Jaw opening feature for surgical stapler

ABSTRACT

An end effector for use with a surgical instrument includes a lower jaw, an anvil, and a resilient member. The anvil is pivotable relative to the lower jaw between a fully opened position and a fully closed position. The resilient member is configured to bias the anvil to remain in the fully opened position when the anvil is in the fully opened position. The end effector may include a closure ring coupled with the anvil that is translatable relative to the lower jaw and configured to engage the anvil at an interface as the closure ring translates proximally relative to the lower jaw to thereby pivot the anvil relative to the lower jaw toward the fully opened position. In various embodiments, the resilient member may comprise elastomeric material positioned between the closure ring and the anvil or a pair of springs or resilient arms that engage the anvil.

BACKGROUND

In some settings, endoscopic surgical instruments may be preferred overtraditional open surgical devices since a smaller incision may reducethe post-operative recovery time and complications. Consequently, someendoscopic surgical instruments may be suitable for placement of adistal end effector at a desired surgical site through the cannula of atrocar. These distal end effectors may engage tissue in a number of waysto achieve a diagnostic or therapeutic effect (e.g., endocutter,grasper, cutter, stapler, clip applier, access device, drug/gene therapydelivery device, and energy delivery device using ultrasonic vibration,RF, laser, etc.). Endoscopic surgical instruments may include a shaftbetween the end effector and a handle portion, which is manipulated bythe clinician. Such a shaft may enable insertion to a desired depth androtation about the longitudinal axis of the shaft, thereby facilitatingpositioning of the end effector within the patient. Positioning of anend effector may be further facilitated through inclusion of one or morearticulation joints or features, enabling the end effector to beselectively articulated or otherwise deflected relative to thelongitudinal axis of the shaft.

Examples of endoscopic surgical instruments include surgical staplers.Some such staplers are operable to clamp down on layers of tissue, cutthrough the clamped layers of tissue, and drive staples through thelayers of tissue to substantially seal the severed layers of tissuetogether near the severed ends of the tissue layers. Merely exemplarysurgical staplers are disclosed in U.S. Pat. No. 4,805,823, entitled“Pocket Configuration for Internal Organ Staplers,” issued Feb. 21,1989; U.S. Pat. No. 5,415,334, entitled “Surgical Stapler and StapleCartridge,” issued May 16, 1995; U.S. Pat. No. 5,465,895, entitled“Surgical Stapler Instrument,” issued Nov. 14, 1995; U.S. Pat. No.5,597,107, entitled “Surgical Stapler Instrument,” issued Jan. 28, 1997;U.S. Pat. No. 5,632,432, entitled “Surgical Instrument,” issued May 27,1997; U.S. Pat. No. 5,673,840, entitled “Surgical Instrument,” issuedOct. 7, 1997; U.S. Pat. No. 5,704,534, entitled “Articulation Assemblyfor Surgical Instruments,” issued Jan. 6, 1998; U.S. Pat. No. 5,814,055,entitled “Surgical Clamping Mechanism,” issued Sep. 29, 1998; U.S. Pat.No. 6,978,921, entitled “Surgical Stapling Instrument Incorporating anE-Beam Firing Mechanism,” issued Dec. 27, 2005; U.S. Pat. No. 7,000,818,entitled “Surgical Stapling Instrument Having Separate Distinct Closingand Firing Systems,” issued Feb. 21, 2006; U.S. Pat. No. 7,143,923,entitled “Surgical Stapling Instrument Having a Firing Lockout for anUnclosed Anvil,” issued Dec. 5, 2006; U.S. Pat. No. 7,303,108, entitled“Surgical Stapling Instrument Incorporating a Multi-Stroke FiringMechanism with a Flexible Rack,” issued Dec. 4, 2007; U.S. Pat. No.7,367,485, entitled “Surgical Stapling Instrument Incorporating aMultistroke Firing Mechanism Having a Rotary Transmission,” issued May6, 2008; U.S. Pat. No. 7,380,695, entitled “Surgical Stapling InstrumentHaving a Single Lockout Mechanism for Prevention of Firing,” issued June3, 2008; U.S. Pat. No. 7,380,696, entitled “Articulating SurgicalStapling Instrument Incorporating a Two-Piece E-Beam Firing Mechanism,”issued Jun. 3, 2008; U.S. Pat. No. 7,404,508, entitled “SurgicalStapling and Cutting Device,” issued Jul. 29, 2008; U.S. Pat. No.7,434,715, entitled “Surgical Stapling Instrument Having MultistrokeFiring with Opening Lockout,” issued Oct. 14, 2008; U.S. Pat. No.7,721,930, entitled “Disposable Cartridge with Adhesive for Use with aStapling Device,” issued May 25, 2010; U.S. Pat. No. 8,408,439, entitled“Surgical Stapling Instrument with An Articulatable End Effector,”issued Apr. 2, 2013; and U.S. Pat. No. 8,453,914, entitled “Motor-DrivenSurgical Cutting Instrument with Electric Actuator Directional ControlAssembly,” issued Jun. 4, 2013. The disclosure of each of theabove-cited U.S. Patents is incorporated by reference herein.

While the surgical staplers referred to above are described as beingused in endoscopic procedures, it should be understood that suchsurgical staplers may also be used in open procedures and/or othernon-endoscopic procedures. By way of example only, a surgical staplermay be inserted through a thoracotomy, and thereby between a patient'sribs, to reach one or more organs in a thoracic surgical procedure thatdoes not use a trocar as a conduit for the stapler. Such procedures mayinclude the use of the stapler to sever and close a vessel leading to alung. For instance, the vessels leading to an organ may be severed andclosed by a stapler before removal of the organ from the thoraciccavity. Of course, surgical staplers may be used in various othersettings and procedures.

Examples of surgical staplers that may be particularly suited or usethrough a thoracotomy are disclosed in U.S. patent application Ser. No.13/780,067, entitled “Surgical Instrument End Effector ArticulationDrive with Pinion and Opposing Racks,” filed Feb. 28, 2013; U.S. patentapplication Ser. No. 13/780,082, entitled “Lockout Feature for MovableCutting Member of Surgical Instrument,” filed Feb. 28, 2013; U.S. patentapplication Ser. No. 13/780,106, entitled “Integrated Tissue Positioningand Jaw Alignment Features for Surgical Stapler,” filed Feb. 28, 2013;U.S. patent application Ser. No. 13/780,120, entitled “Jaw ClosureFeature for End Effector of Surgical Instrument,” filed Feb. 28, 2013;U.S. patent application Ser. No. 13/780,162, entitled “SurgicalInstrument with Articulation Lock having a Detenting Binary Spring,”filed Feb. 28, 2013; U.S. patent application Ser. No. 13/780,171,entitled “Distal Tip Features for End Effector of Surgical Instrument,”filed Feb. 28, 2013; U.S. patent application Ser. No. 13/780,379,entitled “Staple Forming Features for Surgical Stapling Instrument,”filed Feb. 28, 2013; U.S. patent application Ser. No. 13/780,402,entitled “Surgical Instrument with Multi-Diameter Shaft,” filed Feb. 28,2013; and U.S. patent application Ser. No. 13/780,417, entitled“Installation Features for Surgical Instrument End Effector Cartridge,”filed Feb. 28, 2013. The disclosure of each of the above-cited U.S.Patent Applications is incorporated by reference herein.

While various kinds of surgical stapling instruments and associatedcomponents have been made and used, it is believed that no one prior tothe inventor(s) has made or used the invention described in the appendedclaims.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are incorporated in and constitute apart of this specification, illustrate embodiments of the invention,and, together with the general description of the invention given above,and the detailed description of the embodiments given below, serve toexplain the principles of the present invention.

FIG. 1 depicts a perspective view of an exemplary articulating surgicalstapling instrument;

FIG. 2 depicts a side elevational view of the instrument of FIG. 1;

FIG. 3 depicts a perspective view of an end effector of the instrumentof FIG. 1, with the end effector in a closed configuration;

FIG. 4 depicts a perspective view of the end effector of FIG. 3, withthe end effector in an open configuration;

FIG. 5 depicts an exploded perspective view of the end effector of FIG.3;

FIG. 6 depicts a cross-sectional end view of the end effector of FIG. 3,taken along line 6-6 of FIG. 4;

FIG. 7A depicts a cross-sectional side view of the end effector of FIG.3, taken along line 7-7 of FIG. 4, with the firing beam in a proximalposition;

FIG. 7B depicts a cross-sectional side view of the end effector of FIG.3, taken along line 7-7 of FIG. 4, with the firing beam in a distalposition;

FIG. 8 depicts a perspective view of the end effector of FIG. 3,positioned at tissue and having been actuated once in the tissue;

FIG. 9 depicts a schematic view of an exemplary control circuit for usein the instrument of FIG. 1;

FIG. 10 depicts a perspective view of the handle assembly of theinstrument of FIG. 1, with a housing half and some internal componentsremoved;

FIG. 11 depicts a perspective view of drive assembly components from thehandle assembly of FIG. 10;

FIG. 12 depicts a perspective view of an elongate member from the driveassembly of FIG. 11, coupled with the firing beam;

FIG. 13 depicts a perspective view of another exemplary end effector foruse with the instrument of FIG. 1;

FIG. 14A depicts a perspective view of an anvil of the end effector ofFIG. 13;

FIG. 14B depicts a top plan view of the anvil of FIG. 14A;

FIG. 15 depicts a side elevational view of a lower jaw of the endeffector of FIG. 13;

FIG. 16 depicts a side elevational view of a closure ring of the endeffector of FIG. 13;

FIG. 17 depicts a top plan view of the closure ring of FIG. 16;

FIG. 18A depicts a perspective view of the end effector of FIG. 13during a first instant of time during closure;

FIG. 18B depicts a perspective view of the end effector of FIG. 13 fullyclosed;

FIG. 19A depicts a perspective view of the end effector of FIG. 13during a first instant of time during opening;

FIG. 19B depicts a perspective view of the end effector of FIG. 13 fullyopened;

FIG. 20 depicts a perspective view of an exemplary elastomeric insert;

FIG. 21 depicts a side elevational view of the elastomeric insert ofFIG. 20;

FIG. 22 depicts a side elevational view of the elastomeric insert ofFIG. 20 assembled together with an exemplary anvil;

FIG. 23 depicts a top plan view of the elastomeric insert and anvil ofFIG. 22;

FIG. 24A depicts a detailed top plan view of an exemplary end effectorthat includes the elastomeric insert and anvil of FIG. 22 when the endeffector is fully closed;

FIG. 24B depicts a detailed top plan view of the end effector of FIG.24A when the end effector is fully opened;

FIG. 25A depicts a detailed cross-sectional side view of the endeffector of FIG. 24A when the end effector is fully closed;

FIG. 25B depicts a detailed cross-sectional side view of the endeffector of FIG. 24A when the end effector is fully opened;

FIG. 26 depicts a perspective view of another exemplary elastomericinsert;

FIG. 27 depicts a side elevational view of the elastomeric insert ofFIG. 26;

FIG. 28 depicts a side elevational view of the elastomeric insert ofFIG. 26 assembled together with an exemplary anvil;

FIG. 29 depicts a top plan view of the elastomeric insert and anvil ofFIG. 28;

FIG. 30A depicts a detailed top plan view of an exemplary end effectorthat includes the elastomeric insert and anvil of FIG. 28 when the endeffector is fully closed;

FIG. 30B depicts a detailed top plan view of the end effector of FIG.30A when the end effector is fully opened;

FIG. 31A depicts a detailed cross-sectional side view of the endeffector of FIG. 30A when the end effector is fully closed;

FIG. 31B depicts a detailed cross-sectional side view of the endeffector of FIG. 30A when the end effector is fully opened;

FIG. 32 depicts a side elevational view of an exemplary anvil with anelastomeric layer attached thereto;

FIG. 33 depicts a top plan view of the anvil of FIG. 32;

FIG. 34A depicts a detailed top plan view of an exemplary end effectorthat includes the anvil of FIG. 32 when the end effector is fullyclosed;

FIG. 34B depicts a detailed top plan view of the end effector of FIG.34A when the end effector is fully opened;

FIG. 35A depicts a detailed cross-sectional side view of the endeffector of FIG. 34A when the end effector is fully closed;

FIG. 35B depicts a detailed cross-sectional side view of the endeffector of FIG. 34A when the end effector is fully opened;

FIG. 36 depicts a cross-sectional side view of an exemplary closure ringwith an elastomeric layer attached thereto;

FIG. 37A depicts a detailed top plan view of an exemplary end effectorthat includes the closure ring of FIG. 36 when the end effector is fullyclosed;

FIG. 37B depicts a detailed top plan view of the end effector of FIG.37A when the end effector is fully opened;

FIG. 38A depicts a detailed cross-sectional side view of the endeffector of FIG. 37A when the end effector is fully closed;

FIG. 38B depicts a detailed cross-sectional side view of the endeffector of FIG. 37A when the end effector is fully opened;

FIG. 39 depicts an exploded perspective view of an exemplary endeffector that includes a pair of springs;

FIG. 40 depicts a perspective view of the end effector of FIG. 39 in anopen position;

FIG. 41A depicts a perspective view of the end effector of FIG. 39 fullyclosed with a portion of the end effector removed to reveal the springsand other internal structures;

FIG. 41B depicts a perspective view of the end effector of FIG. 39 fullyopened with a portion of the end effector removed to reveal the springsand other internal structures;

FIG. 42 depicts an exploded perspective view of an exemplary endeffector that includes a tray comprising a pair of resilient arms;

FIG. 43 depicts a perspective view of the end effector of FIG. 42 in anopen position;

FIG. 44A depicts a perspective view of the end effector of FIG. 42 fullyclosed with a portion of the end effector removed to reveal theresilient arms and other internal structures;

FIG. 44B depicts a perspective view of the end effector of FIG. 42 fullyopened with a portion of the end effector removed to reveal theresilient arms and other internal structures;

FIG. 45 depicts a top plan view of another exemplary end effector foruse with the instrument of FIG. 1;

FIG. 46 depicts a perspective view of a closure ring of the end effectorof FIG. 45;

FIG. 47 depicts a top plan view of the closure ring of FIG. 46; and

FIG. 48 depicts a cross-sectional view of the closure ring of FIG. 46,taken along line 48-48 of FIG. 47.

The drawings are not intended to be limiting in any way, and it iscontemplated that various embodiments of the invention may be carriedout in a variety of other ways, including those not necessarily depictedin the drawings. The accompanying drawings incorporated in and forming apart of the specification illustrate several aspects of the presentinvention, and together with the description serve to explain theprinciples of the invention; it being understood, however, that thisinvention is not limited to the precise arrangements shown.

DETAILED DESCRIPTION

The following description of certain examples of the invention shouldnot be used to limit the scope of the present invention. Other examples,features, aspects, embodiments, and advantages of the invention willbecome apparent to those skilled in the art from the followingdescription, which is by way of illustration, one of the best modescontemplated for carrying out the invention. As will be realized, theinvention is capable of other different and obvious aspects, all withoutdeparting from the invention. Accordingly, the drawings and descriptionsshould be regarded as illustrative in nature and not restrictive.

I. Exemplary Surgical Stapler

FIG. 1 depicts an exemplary surgical stapling and severing instrument(10) that includes a handle assembly (20), a shaft assembly (30), and anend effector (40). End effector (40) and the distal portion of shaftassembly (30) are sized for insertion, in a nonarticulated state asdepicted in FIG. 1, through a trocar cannula to a surgical site in apatient for performing a surgical procedure. By way of example only,such a trocar may be inserted in a patient's abdomen, between two of thepatient's ribs, or elsewhere. In some settings, instrument (10) is usedwithout a trocar. For instance, end effector (40) and the distal portionof shaft assembly (30) may be inserted directly through a thoracotomy orother type of incision. It should be understood that terms such as“proximal” and “distal” are used herein with reference to a cliniciangripping handle assembly (20) of instrument (10). Thus, end effector(40) is distal with respect to the more proximal handle assembly (20).It will be further appreciated that for convenience and clarity, spatialterms such as “vertical” and “horizontal” are used herein with respectto the drawings. However, surgical instruments are used in manyorientations and positions, and these terms are not intended to belimiting and absolute.

A. Exemplary Handle Assembly and Shaft Assembly

As shown in FIGS. 1-2, handle assembly (20) of the present examplecomprises pistol grip (22), a closure trigger (24), and a firing trigger(26). Each trigger (24, 26) is selectively pivotable toward and awayfrom pistol grip (22) as will be described in greater detail below.Handle assembly (20) further includes an anvil release button (25), afiring beam reverse switch (27), and a removable battery pack (28).These components will also be described in greater detail below. Ofcourse, handle assembly (20) may have a variety of other components,features, and operabilities, in addition to or in lieu of any of thosenoted above. Other suitable configurations for handle assembly (20) willbe apparent to those of ordinary skill in the art in view of theteachings herein. Furthermore, it should be understood that handleassembly (20) is merely an exemplary type of body assembly that can beincluded within instrument (10) and instrument (10) may comprise anyother suitable body assembly in addition to or instead of handleassembly (20), including but not limited to a body assembly configuredto allow instrument (10) to be used during robotic-assisted medicaltreatments and procedures.

As shown in FIGS. 1-3, shaft assembly (30) of the present examplecomprises an outer closure tube (32), an articulation section (34), anda closure ring (36), which is further coupled with end effector (40).Closure tube (32) extends along the length of shaft assembly (30).Closure ring (36) is positioned distal to articulation section (34).Closure tube (32) and closure ring (36) are configured to translatelongitudinally relative to handle assembly (20). Longitudinaltranslation of closure tube (32) is communicated to closure ring (36)via articulation section (34). Exemplary features that may be used toprovide longitudinal translation of closure tube (32) and closure ring(36) will be described in greater detail below.

Articulation section (34) is operable to laterally deflect closure ring(36) and end effector (40) laterally away from the longitudinal axis(LA) of shaft assembly (30) at a desired angle (a). End effector (40)may thereby reach behind an organ or approach tissue from a desiredangle or for other reasons. In some versions, articulation section (34)enables deflection of end effector (40) along a single plane. In someother versions, articulation section (34) enables deflection of endeffector along more than one plane. In the present example, articulationis controlled through an articulation control knob (35) which is locatedat the proximal end of shaft assembly (30). Knob (35) is rotatable aboutan axis that is perpendicular to the longitudinal axis (LA) of shaftassembly (30). Closure ring (36) and end effector (40) pivot about anaxis that is perpendicular to the longitudinal axis (LA) of shaftassembly (30) in response to rotation of knob (35). By way of exampleonly, rotation of knob (35) clockwise may cause corresponding clockwisepivoting of closure ring (36) and end effector (40) at articulationsection (34). Articulation section (34) is configured to communicatelongitudinal translation of closure tube (32) to closure ring (36),regardless of whether articulation section (34) is in a straightconfiguration or an articulated configuration.

In some versions, articulation section (34) and/or articulation controlknob (35) are/is constructed and operable in accordance with at leastsome of the teachings of U.S. patent application Ser. No. 13/780,067,entitled “Surgical Instrument End Effector Articulation Drive withPinion and Opposing Racks,” filed Feb. 28, 2013, the disclosure of whichis incorporated by reference herein. Articulation section (34) may alsobe constructed and operable in accordance with at least some of theteachings of U.S. Pat. App. No. [Attorney Docket NumberEND7429USNP.0614273], entitled “Articulation Drive Features for SurgicalStapler,” filed on even date herewith, the disclosure of which isincorporated by reference herein; and/or U.S. Pat. App. No. [AttorneyDocket Number END7431USNP.0614277], entitled “Method of UnlockingArticulation Joint in Surgical Stapler,” filed on even date herewith,the disclosure of which is incorporated by reference herein. Othersuitable forms that articulation section (34) and articulation knob (35)may take will be apparent to those of ordinary skill in the art in viewof the teachings herein.

As shown in FIGS. 1-2, shaft assembly (30) of the present examplefurther includes a rotation knob (31). Rotation knob (31) is operable torotate the entire shaft assembly (30) and end effector (40) relative tohandle assembly (20) about the longitudinal axis (LA) of shaft assembly(30). In some versions, rotation knob (31) is operable to selectivelylock the angular position of shaft assembly (30) and end effector (40)relative to handle assembly (20) about the longitudinal axis (LA) ofshaft assembly (30). For instance, rotation knob (31) may betranslatable between a first longitudinal position, in which shaftassembly (30) and end effector (40) are rotatable relative to handleassembly (20) about the longitudinal axis (LA) of shaft assembly (30);and a second longitudinal position, in which shaft assembly (30) and endeffector (40) are not rotatable relative to handle assembly (20) aboutthe longitudinal axis (LA) of shaft assembly (30). Of course, shaftassembly (30) may have a variety of other components, features, andoperabilities, in addition to or in lieu of any of those noted above. Byway of example only, at least part of shaft assembly (30) is constructedin accordance with at least some of the teachings of U.S. patentapplication Ser. No. 13/780,402, entitled “Surgical Instrument withMulti-Diameter Shaft,” filed Feb. 28, 2013, the disclosure of which isincorporated by reference herein. Other suitable configurations forshaft assembly (30) will be apparent to those of ordinary skill in theart in view of the teachings herein.

B. Exemplary End Effector

As also shown in FIGS. 1-3, end effector (40) of the present exampleincludes a lower jaw (50) and a pivotable anvil (60). Anvil (60)includes a pair of integral, outwardly extending pins (66) that aredisposed in corresponding curved slots (54) of lower jaw (50). Pins (66)and slots (54) are shown in FIG. 5. Anvil (60) is pivotable toward andaway from lower jaw (50) between an open position (shown in FIGS. 2 and4) and a closed position (shown in FIGS. 1, 3, and 7A-7B). Use of theterm “pivotable” (and similar terms with “pivot” as a base) should notbe read as necessarily requiring pivotal movement about a fixed axis.For instance, in the present example, anvil (60) pivots about an axisthat is defined by pins (66), which slide along curved slots (54) oflower jaw (50) as anvil (60) moves toward lower jaw (50). In suchversions, the pivot axis translates along the path defined by slots (54)while anvil (60) simultaneously pivots about that axis. In addition orin the alternative, the pivot axis may slide along slots (54) first,with anvil (60) then pivoting about the pivot axis after the pivot axishas slid a certain distance along the slots (54). It should beunderstood that such sliding/translating pivotal movement is encompassedwithin terms such as “pivot,” “pivots,” “pivotal,” “pivotable,”“pivoting,” and the like. Of course, some versions may provide pivotalmovement of anvil (60) about an axis that remains fixed and does nottranslate within a slot or channel, etc.

As best seen in FIG. 5, lower jaw (50) of the present example defines achannel (52) that is configured to receive a staple cartridge (70).Staple cartridge (70) may be inserted into channel (52), end effector(40) may be actuated, and then staple cartridge (70) may be removed andreplaced with another staple cartridge (70). Lower jaw (50) thusreleasably retains staple cartridge (70) in alignment with anvil (60)for actuation of end effector (40). In some versions, lower jaw (50) isconstructed in accordance with at least some of the teachings of U.S.patent application Ser. No. 13/780,417, entitled “Installation Featuresfor Surgical Instrument End Effector Cartridge,” filed Feb. 28, 2013,the disclosure of which is incorporated by reference herein. Othersuitable forms that lower jaw (50) may take will be apparent to those ofordinary skill in the art in view of the teachings herein.

As best seen in FIGS. 4-6, staple cartridge (70) of the present examplecomprises a cartridge body (71) and a tray (76) secured to the undersideof cartridge body (71). The upper side of cartridge body (71) presents adeck (73), against which tissue may be compressed when anvil (60) is ina closed position. Cartridge body (71) further defines a longitudinallyextending channel (72) and a plurality of staple pockets (74). A staple(77) is positioned in each staple pocket (74). A staple driver (75) isalso positioned in each staple pocket (74), underneath a correspondingstaple (77), and above tray (76). As will be described in greater detailbelow, staple drivers (75) are operable to translate upwardly in staplepockets (74) to thereby drive staples (77) upwardly through staplepockets (74) and into engagement with anvil (60). Staple drivers (75)are driven upwardly by a wedge sled (78), which is captured betweencartridge body (71) and tray (76), and which translates longitudinallythrough cartridge body (71). Wedge sled (78) includes a pair ofobliquely angled cam surfaces (79), which are configured to engagestaple drivers (75) and thereby drive staple drivers (75) upwardly aswedge sled (78) translates longitudinally through cartridge (70). Forinstance, when wedge sled (78) is in a proximal position as shown inFIG. 7A, staple drivers (75) are in downward positions and staples (77)are located in staple pockets (74). As wedge sled (78) is driven to thedistal position shown in FIG. 7B by a translating knife member (80),wedge sled (78) drives staple drivers (75) upwardly, thereby drivingstaples (77) out of staple pockets (74) and into staple forming pockets(64). Thus, staple drivers (75) translate along a vertical dimension aswedge sled (78) translates along a horizontal dimension.

It should be understood that the configuration of staple cartridge (70)may be varied in numerous ways. For instance, staple cartridge (70) ofthe present example includes two longitudinally extending rows of staplepockets (74) on one side of channel (72); and another set of twolongitudinally extending rows of staple pockets (74) on the other sideof channel (72). However, in some other versions, staple cartridge (70)includes three, one, or some other number of staple pockets (74) on eachside of channel (72). In some versions, staple cartridge (70) isconstructed and operable in accordance with at least some of theteachings of U. U.S. patent application Ser. No. 13/780,106, entitled“Integrated Tissue Positioning and Jaw Alignment Features for SurgicalStapler,” filed Feb. 28, 2013, the disclosure of which is incorporatedby reference herein. In addition or in the alternative, staple cartridge(70) may be constructed and operable in accordance with at least some ofthe teachings of U.S. patent application Ser. No. 13/780,417, entitled“Installation Features for Surgical Instrument End Effector Cartridge,”filed Feb. 28, 2013, the disclosure of which is incorporated byreference herein. Other suitable forms that staple cartridge (70) maytake will be apparent to those of ordinary skill in the art in view ofthe teachings herein.

As best seen in FIG. 4, anvil (60) of the present example comprises alongitudinally extending channel (62) and a plurality of staple formingpockets (64). Channel (62) is configured to align with channel (72) ofstaple cartridge (70) when anvil (60) is in a closed position. Eachstaple forming pocket (64) is positioned to lie over a correspondingstaple pocket (74) of staple cartridge (70) when anvil (60) is in aclosed position. Staple forming pockets (64) are configured to deformthe legs of staples (77) when staples (77) are driven through tissue andinto anvil (60). In particular, staple forming pockets (64) areconfigured to bend the legs of staples (77) to secure the formed staples(77) in the tissue. Anvil (60) may be constructed in accordance with atleast some of the teachings of U.S. patent application Ser. No.13/780,106, entitled “Integrated Tissue Positioning and Jaw AlignmentFeatures for Surgical Stapler,” filed Feb. 28, 2013; at least some ofthe teachings of U.S. patent application Ser. No. 13/780,120, entitled“Jaw Closure Feature for End Effector of Surgical Instrument,” filedFeb. 28, 2013; and/or at least some of the teachings of U.S. patentapplication Ser. No. 13/780,379, entitled “Staple Forming Features forSurgical Stapling Instrument,” filed Feb. 28, 2013, the disclosure ofwhich is incorporated by reference herein. Other suitable forms thatanvil (60) may take will be apparent to those of ordinary skill in theart in view of the teachings herein.

In the present example, a knife member (80) is configured to translatethrough end effector (40). As best seen in FIGS. 5 and 7A-7B, knifemember (80) is secured to the distal end of a firing beam (82), whichextends through a portion of shaft assembly (30). As best seen in FIGS.4 and 6, knife member (80) is positioned in channels (62, 72) of anvil(60) and staple cartridge (70). Knife member (80) includes a distallypresented cutting edge (84) that is configured to sever tissue that iscompressed between anvil (60) and deck (73) of staple cartridge (70) asknife member (80) translates distally through end effector (40). Asnoted above and as shown in FIGS. 7A-7B, knife member (80) also driveswedge sled (78) distally as knife member (80) translates distallythrough end effector (40), thereby driving staples (77) through tissueand against anvil (60) into formation. Various features that may be usedto drive knife member (80) distally through end effector (40) will bedescribed in greater detail below.

In some versions, end effector (40) includes lockout features that areconfigured to prevent knife member (80) from advancing distally throughend effector (40) when a staple cartridge (70) is not inserted in lowerjaw (50). In addition or in the alternative, end effector (40) mayinclude lockout features that are configured to prevent knife member(80) from advancing distally through end effector (40) when a staplecartridge (70) that has already been actuated once (e.g., with allstaples (77) deployed therefrom) is inserted in lower jaw (50). By wayof example only, such lockout features may be configured in accordancewith at least some of the teachings of U.S. patent application Ser. No.13/780,082, entitled “Lockout Feature for Movable Cutting Member ofSurgical Instrument,” filed Feb. 28, 2013, the disclosure of which isincorporated by reference herein; and/or at least some of the teachingsof U.S. Pat. App. No. [Attorney Docket Number END7428USNP.0614271],entitled “Method of Using Lockout Features for Surgical StaplerCartridge,” filed on even date herewith, the disclosure of which isincorporated by reference herein. Other suitable forms that lockoutfeatures may take will be apparent to those of ordinary skill in the artin view of the teachings herein. Alternatively, end effector (40) maysimply omit such lockout features.

C. Exemplary Actuation of Anvil

In the present example, anvil (60) is driven toward lower jaw (50) byadvancing closure ring (36) distally relative to end effector (40).Closure ring (36) cooperates with anvil (60) through a camming action todrive anvil (60) toward lower jaw (50) in response to distal translationof closure ring (36) relative to end effector (40). Similarly, closurering (36) may cooperate with anvil (60) to open anvil (60) away fromlower jaw (50) in response to proximal translation of closure ring (36)relative to end effector (40). By way of example only, closure ring (36)and anvil (60) may interact in accordance with at least some of theteachings of U.S. patent application Ser. No. 13/780,120, entitled “JawClosure Feature for End Effector of Surgical Instrument,” filed Feb. 28,2013, the disclosure of which is incorporated by reference herein;and/or in accordance with at least some of the teachings below.Exemplary features that may be used to provide longitudinal translationof closure ring (36) relative to end effector (40) will be described ingreater detail below.

As noted above, handle assembly (20) includes a pistol grip (22) and aclosure trigger (24). As also noted above, anvil (60) is closed towardlower jaw (50) in response to distal advancement of closure ring (36).In the present example, closure trigger (24) is pivotable toward pistolgrip (22) to drive closure tube (32) and closure ring (36) distally.Various suitable components that may be used to convert pivotal movementof closure trigger (24) toward pistol grip (22) into distal translationof closure tube (32) and closure ring (36) relative to handle assembly(20) will be apparent to those of ordinary skill in the art in view ofthe teachings herein. When closure trigger (24) reaches a fully pivotedstate, such that anvil (60) is in a fully closed position relative tolower jaw (50), locking features in handle assembly (20) lock theposition of trigger (24) and closure tube (32), thereby locking anvil(60) in a fully closed position relative to lower jaw (50). Theselocking features are released by actuation of anvil release button (25).Anvil release button (25) is configured and positioned to be actuated bythe thumb of the operator hand that grasps pistol grip (22). In otherwords, the operator may grasp pistol grip (22) with one hand, actuateclosure trigger (24) with one or more fingers of the same hand, and thenactuate anvil release button (25) with the thumb of the same hand,without ever needing to release the grasp of pistol grip (22) with thesame hand. Other suitable features that may be used to actuate anvil(60) will be apparent to those of ordinary skill in the art in view ofthe teachings herein.

D. Exemplary Actuation of Firing Beam

In the present example, instrument (10) provides motorized control offiring beam (82). FIGS. 9-12 show exemplary components that may be usedto provide motorized control of firing beam (82). In particular, FIG. 9shows an exemplary control circuit (100) that may be used to power anelectric motor (102) with electric power from a battery pack (28) (alsoshown in FIGS. 1-2). Electric motor (102) is operable to translatefiring beam (82) longitudinally as will be described in greater detailbelow. It should be understood that the entire control circuit (100),including motor (102) and battery pack (28), may be housed within handleassembly (20). FIG. 9 shows firing trigger (26) as an open switch,though it should be understood that this switch is closed when firingtrigger (26) is actuated. Circuit (100) of this example also includes asafety switch (106) that must be closed in order to complete circuit(100), though it should be understood that safety switch (106) is merelyoptional. Safety switch (106) may be closed by actuating a separatebutton, slider, or other feature on handle assembly (20). Safety switch(106) may also provide a mechanical lockout of firing trigger (26), suchthat firing trigger (26) is mechanically blocked from actuation untilsafety switch (106) is actuated.

Circuit (100) of the present example also includes a lockout switch(108), which is configured to be closed by default but is automaticallyopened in response to a lockout condition. By way of example only, alockout condition may include one or more of the following: the absenceof a cartridge (70) in lower jaw (50), the presence of a spent (e.g.,previously fired) cartridge (70) in lower jaw (50), an insufficientlyclosed anvil (60), a determination that instrument (10) has been firedtoo many times, and/or any other suitable conditions. Various sensors,algorithms, and other features that may be used to detect lockoutconditions will be apparent to those of ordinary skill in the art inview of the teachings herein. Similarly, other suitable kinds of lockoutconditions will be apparent to those of ordinary skill in the art inview of the teachings herein. It should be understood that circuit (100)is opened and thus motor (102) is inoperable when lockout switch (108)is opened. A lockout indicator (110) (e.g., an LED, etc.) is operable toprovide a visual indication of the status of lockout switch (108). Byway of example only, lockout switch (108), lockout indicator (110), andassociated components/functionality may be configured in accordance withat least some of the teachings of U.S. Pat. No. 7,644,848, entitled“Electronic Lockouts and Surgical Instrument Including Same,” issuedJan. 12, 2010, the disclosure of which is incorporated by referenceherein.

Once firing beam (82) reaches a distal-most position (e.g., at the endof a cutting stroke), an end-of-stroke switch (112) is automaticallyswitched to a closed position, reversing the polarity of the voltageapplied to motor (102). This reverses the direction of rotation of motor(102), it being understood that the operator will have released firingtrigger (26) at this stage of operation. In this operational state,current flows through a reverse direction indicator (114) (e.g., an LED,etc.) to provide a visual indication to the operator that motor (102)rotation has been reversed. In the present example, and as best seen inFIG. 12, a switch actuation arm (134) extends laterally from rack member(130), and is positioned to engage end-of-stroke switch (112) whenfiring beam (82) reaches a distal-most position (e.g., after tissue (90)has been severed and staples (77) have been driven into tissue (90)).Various other suitable ways in which end-of-stroke switch (112) may beautomatically switched to a closed position when firing beam (82)reaches a distal-most position will be apparent to those of ordinaryskill in the art in view of the teachings herein. Similarly, varioussuitable forms that reverse direction indicator (114) may take will beapparent to those of ordinary skill in the art in view of the teachingsherein.

Handle assembly (20) of the present example also includes a manualreturn switch (116), which is also shown in circuit (100). In thepresent example, return switch (116) is activated by actuating reverseswitch (27), which is shown on handle assembly (20) in FIG. 1. Manualreturn switch (116) may provide functionality similar to end-of-strokeswitch (112), reversing the polarity of the voltage applied to motor(102) to thereby reverse the direction of rotation of motor (102).Again, this reversal may be visually indicated through reverse directionindicator (114). In some versions, handle assembly (20) further includesa mechanical return feature that enables the operator to manuallyreverse firing beam (82) and thereby retract firing beam (82)mechanically. In the present example, this manual return featurecomprises a lever that is covered by a removable panel (21) as shown inFIG. 1. Manual return switch (116) and the mechanical return feature areeach configured to act as a “bailout” feature, enabling the operator toquickly begin retracting firing beam (82) proximally during a firingstroke. In other words, manual return switch (116) or the mechanicalreturn feature may be actuated when firing beam (82) has only beenpartially advanced distally.

In some versions, one or more of switches (26, 106, 108, 112, 116) arein the form of microswitches. Other suitable forms will be apparent tothose of ordinary skill in the art in view of the teachings herein. Inaddition to or in lieu of the foregoing, at least part of circuit (100)may be configured in accordance with at least some of the teachings ofU.S. Pat. No. 8,210,411, entitled “Motor-Driven Surgical Instrument,”issued Jul. 3, 2012, the disclosure of which is incorporated byreference herein.

FIG. 10 shows motor (102) positioned within pistol grip (22) of handleassembly (20). Alternatively, motor (102) may be positioned elsewherewithin handle assembly (20). Motor (102) has a drive shaft (120) that iscoupled with a gear assembly (122). Thus, when motor (102) is activated,drive shaft (120) actuates gear assembly (122). As shown in FIG. 11,gear assembly (122) is in communication with a drive gear (124), whichmeshes with an idler pinion (126). Pinion (126) is disposed on a shaft(128) that is supported within handle assembly (20) and that is orientedparallel to drive shaft (120) of motor (102). Pinion (126) is furtherengaged with a rack member (130). In particular, pinion (126) mesheswith teeth (132) at the proximal end of rack member (130). Rack member(130) is slidably supported in handle assembly (20). It should beunderstood from the foregoing that, when motor (102) is activated, thecorresponding rotation of drive shaft (120) is communicated to pinion(126) via gear assembly (122), and the corresponding rotation of pinion(126) is converted to translation of rack member (130) by teeth (132).As shown in FIGS. 10-12, an elongate member (136) extends distally fromrack member (130). As shown in FIG. 12, a coupling member (138) joinsfiring beam (82) with elongate member (136). Rack member (130), elongatemember (136), coupling member (138), firing beam (82), and knife member(80) all translate together relative to handle assembly (20) in responseto activation of motor (102). In other words, activation of motor (102)ultimately causes firing beam (82) to translate longitudinally, thedirection of such translation depending on the direction of rotation ofdrive shaft (120).

It should be understood that a distal portion of elongate member (136),coupling member (138), and firing beam (82) extend through shaftassembly (130). A portion of firing beam (82) also extends througharticulation section (34). In some versions, rack member (130), elongatemember (136), and coupling member (138) are all substantially straightand rigid; while firing beam (82) has sufficient flexibility to bend atarticulation section (34) and translate longitudinally througharticulation section (34) when articulation section (34) is in a bent orarticulated state.

In addition to or in lieu of the foregoing, the features operable todrive firing beam (82) may be configured in accordance with at leastsome of the teachings of U.S. Pat. No. 8,453,914, the disclosure ofwhich is incorporated by reference herein. Other suitable components,features, and configurations for providing motorization of firing beam(82) will be apparent to those of ordinary skill in the art in view ofthe teachings herein. It should also be understood that some otherversions may provide manual driving of firing beam (82), such that amotor may be omitted. By way of example only, firing beam (82) may beactuated in accordance with at least some of the teachings of any otherreference cited herein.

FIG. 8 shows end effector (40) having been actuated through a singlestroke through tissue (90). As shown, cutting edge (84) (obscured inFIG. 8) has cut through tissue (90), while staple drivers (75) havedriven two alternating rows of staples (77) through the tissue (90) oneach side of the cut line produced by cutting edge (84). Staples (77)are all oriented substantially parallel to the cut line in this example,though it should be understood that staples (77) may be positioned atany suitable orientations. In the present example, end effector (40) iswithdrawn from the trocar after the first stroke is complete, the spentstaple cartridge (70) is replaced with a new staple cartridge (70), andend effector (40) is then again inserted through the trocar to reach thestapling site for further cutting and stapling. This process may berepeated until the desired amount of cuts and staples (77) have beenprovided. Anvil (60) may need to be closed to facilitate insertion andwithdrawal through the trocar; and anvil (60) may need to be opened tofacilitate replacement of staple cartridge (70).

It should be understood that cutting edge (84) may sever tissuesubstantially contemporaneously with staples (77) being driven throughtissue during each actuation stroke. In the present example, cuttingedge (84) just slightly lags behind driving of staples (77), such that astaple (47) is driven through the tissue just before cutting edge (84)passes through the same region of tissue, though it should be understoodthat this order may be reversed or that cutting edge (84) may bedirectly synchronized with adjacent staples. While FIG. 8 shows endeffector (40) being actuated in two layers (92, 94) of tissue (90), itshould be understood that end effector (40) may be actuated through asingle layer of tissue (90) or more than two layers (92, 94) of tissue.It should also be understood that the formation and positioning ofstaples (77) adjacent to the cut line produced by cutting edge (84) maysubstantially seal the tissue at the cut line, thereby reducing orpreventing bleeding and/or leaking of other bodily fluids at the cutline. Furthermore, while FIG. 8 shows end effector (40) being actuatedin two substantially flat, apposed planar layers (92, 94) of tissue, itshould be understood that end effector (40) may also be actuated acrossa tubular structure such as a blood vessel, a section of thegastrointestinal tract, etc. FIG. 8 should therefore not be viewed asdemonstrating any limitation on the contemplated uses for end effector(40). Various suitable settings and procedures in which instrument (10)may be used will be apparent to those of ordinary skill in the art inview of the teachings herein.

It should also be understood that any other components or features ofinstrument (10) may be configured and operable in accordance with any ofthe various references cited herein. Additional exemplary modificationsthat may be provided for instrument (10) will be described in greaterdetail below. Various suitable ways in which the below teachings may beincorporated into instrument (10) will be apparent to those of ordinaryskill in the art. Similarly, various suitable ways in which the belowteachings may be combined with various teachings of the references citedherein will be apparent to those of ordinary skill in the art. It shouldalso be understood that the below teachings are not limited toinstrument (10) or devices taught in the references cited herein. Thebelow teachings may be readily applied to various other kinds ofinstruments, including instruments that would not be classified assurgical staplers. Various other suitable devices and settings in whichthe below teachings may be applied will be apparent to those of ordinaryskill in the art in view of the teachings herein.

II. Exemplary Alternative End Effector

FIGS. 13-19B depict another exemplary end effector (240) that may bereadily incorporated into surgical stapling and severing instrument(10). End effector (240) is substantially similar to end effector (40)described above. As a result, the components of end effector (240) aresubstantially similar and function substantially similarly to those ofend effector (40) described above. Accordingly, the description of thosepreviously discussed components of end effector (240) will not berepeated here. Similar to end effector (40) described above, endeffector (240) and the distal portion of shaft assembly (30) are sizedfor insertion, in a nonarticulated state as depicted in FIG. 1, througha trocar cannula to a surgical site in a patient for performing asurgical procedure. By way of example only, such a trocar may beinserted in a patient's abdomen, between two of the patient's ribs, orelsewhere. In some settings, instrument (10) is used without a trocar.For instance, end effector (240) and the distal portion of shaftassembly (30) may be inserted directly through a thoracotomy or othertype of incision. The manner in which tissue captured within endeffector (240) is cut and stapled by actuating firing trigger (26) todrive firing beam (82) is substantially similar to that described abovewith respect to end effector (40).

A. Exemplary Actuation of End Effector

End effector (240) comprises a pivotable anvil (260), a lower jaw (250),and a closure ring (270). Pivotable anvil (260) is similar to pivotableanvil (60) and includes a pair of flanges (262) and a pair of integral,outwardly extending pins (266) that are similar to pins (66) describedabove. Lower jaw (250) is similar to lower jaw (50) of end effector (40)and includes a pair of openings (254) that are similar to slots (54)described above. In this example, openings (254) comprise elongated,curved slots. Each opening (254) is configured to receive a respectivepin (266) of anvil (260) such that anvil (260) is pivotable relative tolower jaw (250). Anvil (260) is pivotable toward and away from lower jaw(250) between a fully opened position (shown in FIGS. 13 and 19B) and afully closed position (shown in FIG. 18B). Use of the term “pivotable”(and similar terms with “pivot” as a base) should not be read asnecessarily requiring pivotal movement about a fixed axis. For instance,in the present example, anvil (260) pivots about an axis that is definedby pins (266), which slide along openings (254) of lower jaw (250) asanvil (260) moves toward lower jaw (250). In such versions, the pivotaxis translates along the path defined by openings (254) while anvil(260) simultaneously pivots about that axis. In addition or in thealternative, the pivot axis may slide along openings (254) first, withanvil (260) then pivoting about the pivot axis after the pivot axis hasslid a certain distance along the openings (254). It should beunderstood that such sliding/translating pivotal movement is encompassedwithin terms such as “pivot,” “pivots,” “pivotal,” “pivotable,”“pivoting,” and the like. Of course, some versions may provide pivotalmovement of anvil (260) about an axis that remains fixed and does nottranslate within a slot or channel, etc.

Similar to closure ring (36) described above, closure ring (270) alsofacilitates the transition of anvil (260) between the fully openedposition and the fully closed position. As shown, closure ring (270)comprises vertical surface (275) and tab (272). Tab (272) is positionedwithin a lateral hole or opening (274) that is formed through thesidewall of closure ring (270). Vertical surface (275) is positioneddistal of tab (272) and is configured to engage vertical surface (268)of anvil (260). Opening (274) is configured to receive tab (265) ofanvil (260). Tab (272) of closure ring (270) extends proximally withinopening (274) and slopes downwardly toward the central longitudinal axisof closure ring (270).

In an exemplary use, instrument (10) may be inserted to a surgical sitein a nonarticulated state, with anvil (260) and lower jaw (250) closed.Once articulation section (34) and end effector (240) are inserted tothe desired site within the patient, anvil (260) and lower jaw (250) maybe opened, as described below, and articulation section (34) may beremotely articulated by an articulation control knob (35), such that endeffector (240) may be deflected to a desired angle (a) to positiontissue between anvil (260) and lower jaw (250). Alternatively, endeffector (240) may be deflected at articulation section (34) prior toopening anvil (260) and lower jaw (250). Closure trigger (24) may thenbe actuated toward pistol grip (22) to cause the closing of anvil (260)toward lower jaw (250), as shown in FIGS. 18A-18B. Such closing of anvil(260) is provided through a closure tube (32) and closure ring (270),which both longitudinally translate relative to handle assembly (20) andlower jaw (250) in response to pivoting of closure trigger (24) relativeto pistol grip (22). Articulation section (34) is operable tocommunicate longitudinal movement from closure tube (32) to closure ring(270).

As closure ring (270) translates distally in response to advancement ofclosure tube (32), closure ring (270) translates relative to anvil (260)to engage anvil (260). As shown in FIGS. 18A-18B, as closure ring (270)translates distally, vertical surface (275) of closure ring (270)contacts vertical surface (268) of anvil (260) thereby causing anvil(260) to also translate distally and pivot toward lower jaw (250).Vertical surface (268) of anvil (260) has a curved profile, whichconcentrates the axial closure load at the center of vertical surface(275). In some instances, as anvil (260) closes relative to lower jaw(250), anvil (260) may slightly deflect laterally relative to closurering (270). If anvil (260) is deflected laterally, the curved profile ofvertical surface (268) transfers the load centrally to closure ring(270) regardless of the lateral deflection of anvil (260) and eventuallycorrects the deflection to properly align anvil (260). Also, byconcentrating the load centrally, the tissue compression ability at thetip of anvil (260) is increased due to better mechanical advantage andbetter load transfer efficiency.

As anvil (260) translates distally, each pin (266) contacts the rampedouter wall (255) of its respective opening (254) of lower jaw (250). Thecurved surface of pin (266) and ramped outer walls (255) of openings(254) allow pins (266) to translate along openings (254) of lower jaw(250). As anvil (260) continues to translate distally, the ramped outerwalls (255) cam against pins (266) to drive anvil (260) to pivotdownwardly about pins (266) toward lower jaw (250). Near the end of theclosure stroke, pins (266) of anvil (260) transition to shallower angledsurfaces of ramped outer wall (255) and anvil (260) reaches the fullyclosed position. Once end effector (240) is closed, the tissue capturedbetween anvil (260) and lower jaw (250) may be cut and stapled byactuating firing trigger (26) to drive firing beam (82).

Once tissue positioned between anvil (260) and lower jaw (250) is cutand stapled, anvil (260) and lower jaw (250) may be opened to releasethe tissue, then end effector (240) may be pivoted back to thenonarticulated position by articulation control knob (35) and removedfrom the surgical site, with anvil (260) and lower jaw (250) closed. Endeffector (240) may then be opened to replace staple cartridge (70) witha new staple cartridge. To open end effector (240), closure trigger (24)may be released away from pistol grip (22) to cause closure ring (270)to translate proximally, as shown in FIGS. 19A-19B. As closure ring(270) translates proximally, vertical surface (275) of closure ring(270) disengages from vertical surface (268) of anvil (260). As closurering (270) continues to translate proximally, tab (272) of closure ring(270) engages tab (265) of anvil (260) to cause anvil (260) to translateproximally. As anvil (260) translates proximally, pins (266) translateproximally along ramped outer walls (255) of openings (254) and anvil(260) pivots about pins (266) away from lower jaw (250) to the fullyopened position, as shown in FIG. 19B. Staple cartridge (70) may bereplaced with a new staple cartridge, and end effector (240) may beagain inserted to the surgical site for further cutting and stapling.

III. Exemplary Alternative End Effector with Resilient Member

It should be understood that the configuration of an end effector mayresult in an undesirable lack of precision and stability regarding theinteraction of the anvil and the lower jaw. For example, in someembodiments the configuration of certain end effector components and themanner in which they interact may result in unwanted movement or“flopping” of the anvil relative to the lower jaw of the end effectorwhen the anvil is in a fully opened position. It may therefore bedesirable to configure the end effector such that the anvil remains inthe fully opened position once it reaches that position, at least untila closure stroke is initiated, thereby reducing the unwanted flopping.Various end effectors are described below that include variousembodiments of resilient members that may be configured to improve theprecision and stability of the respective end effector by urging theanvil to remain in the fully opened position thereby reducing theunwanted flopping.

It should also be understood that the configuration of an end effectormay have a significant impact on the profile of the closure stroke(i.e., the transition of the anvil toward a fully closed position).Furthermore, it will be understood that the profile of the closurestroke may have a significant impact on how the end effector capturesthe layer(s) of tissue within the end effector, which ultimately impactsthe quality and precision of the cutting and stapling accomplished bythe surgical stapler. It may therefore be desirable to configure the endeffector such that it provides a substantially smooth profile during theclosure stroke. At least some of the various embodiments of resilientmembers described below may be configured to improve the smoothness theprofile of at least a portion of the closure stroke of the respectiveend effector by applying a force on the anvil during at least a portionof the closure stroke.

A. Exemplary Elastomeric Insert for End Effector

FIGS. 20-21 depict an exemplary elastomeric insert (300) configured tobe used in conjunction with an exemplary end effector and closure ring,including but not limited to end effector (240) and closure ring (270)described above. FIGS. 22-23 depict elastomeric insert (300) positionedon an anvil (360) that is substantially similar to anvil (260) describedabove. FIGS. 24A-25B depict detailed views of an end effector (340)comprising elastomeric insert (300), anvil (360) and closure ring (370)and the interaction between elastomeric insert (300), anvil (360) andclosure ring (370) when end effector (340) is in a fully closed positionand a fully opened position. Closure ring (370) is substantially similarto closure ring (270) described above and includes a tab (372)positioned within an opening (374) similar to tab (272) and opening(274) described above. End effector (340) is substantially similar toend effectors (40, 240) described above. Except for the addition ofelastomeric insert (300), the components of end effector (340) aresubstantially similar and function substantially similarly to those ofend effectors (40, 240) described above. Accordingly, the description ofthose previously discussed components of end effector (340) will not berepeated here.

As shown in FIGS. 20-25B, elastomeric insert (300) comprises asubstantially rectangularly shaped insert comprising an opening (302), adistal flange (304) having a distal surface (306) and a proximal flange(308). Of course, insert (300) may have a variety of alternative shapes,including but not limited to circular, ovular, triangular, etc. In thisembodiment, opening (302) is sized and shaped to receive at least aportion of an anvil, such as tab (365) of anvil (360). In particular, inthe illustrated embodiment, opening (302) comprises a profile that issubstantially similar to the profile of tab (365). As shown, opening(302) is positioned substantially in the center of elastomeric insert(300) between distal flange (304) and proximal flange (308). In otherembodiments, the opening (302) may be positioned elsewhere within thebody of the insert (e.g., so that the central axis of the opening (302)is substantially off-center relative to the overall dimensions of theinsert), provided that the opening is still positioned between a distalflange and a proximal flange. In addition, in the illustratedembodiment, opening (302) extends through the entire thickness ofelastomeric insert (300). In other embodiments, the opening may extendthrough only a portion of the thickness of the insert, provided theopening is still configured to receive at least a portion of acorresponding anvil, such as tab (365) of anvil (360).

Insert (300) may comprise an elastomeric material that is compressiblein response to a load being applied to the insert (300). The material ofinsert (300) may also be conformable to allow insert (300) tosufficiently occupy at least a portion of the gap around the componentslocated at an interface of closure ring (370) and anvil (360). Inpreferred embodiments, insert (300) comprises a material that issuitable and acceptable for use in medical procedures, includingsurgical procedures of the type described herein. By way of exampleonly, elastomeric insert (300) may comprise santoprene, polyurethane,isoprene, Versaflex GLS 360-135, some other compliant plasticmaterial(s), some other rubber compliant material(s), foam, and/or anyother suitable materials capable of improving the stability of anvil(360) by providing a resistive load sufficient to bias anvil (360) toremain in a fully opened position once anvil (360) is in a fully openedposition thereby reducing undesired movement or “flopping” of anvil(360) when anvil (360) is in a fully opened position, while alsodampening the closure profile to provide a smooth closure as anvil (360)transitions toward a fully closed position.

As shown in FIGS. 22-23, elastomeric insert (300) is positioned on anvil(360) such that at least a portion of tab (365) of anvil (360) isreceived within the opening (302) of elastomeric insert (300).Accordingly, distal flange (304) of elastomeric insert (300) ispositioned distally relative to tab (365) and proximal flange (308) ofelastomeric insert (300) is positioned proximally relative to tab (365).As illustrated by FIGS. 24A-25B, when anvil (360) is assembled togetherwith closure ring (370), elastomeric insert (300) is positioned at aninterface between anvil (360) and closure ring (370). Specifically, asshown, distal flange (304) of elastomeric insert (300) is positionedbetween tab (372) of closure ring (370) and tab (365) of anvil (360).

Similar to anvil (260) described above, during opening and closing,anvil (360) pivots relative to a lower jaw similar to lower jaw (250)described above about an axis that is defined by outwardly extendingpins (366), which are similar to pins (266) described above. Pins (366)are configured to interact with openings, such as openings (254), in thelower jaw. Accordingly, similar to anvil (260) described above, thepivot axis of anvil (360) translates along the path defined by theopenings in the lower jaw while anvil (360) simultaneously pivots aboutthat axis. In addition or in the alternative, the pivot axis may slidealong the openings first, with anvil (360) then pivoting about the pivotaxis after the pivot axis has slid a certain distance along theopenings. It should be understood that such sliding/translating pivotalmovement is encompassed within terms such as “pivot,” “pivots,”“pivotal,” “pivotable,” “pivoting,” and the like. Of course, someversions may provide pivotal movement of anvil (360) about an axis thatremains fixed and does not translate within a slot or channel, etc.

FIGS. 24A and 25A depict the interaction between anvil (360) and closurering (370) when anvil (360) is in a fully closed position. As shown inFIGS. 24A and 25A and as described above with regard to anvil (260) andclosure ring (270), when anvil (360) is transitioned toward a fullyclosed position from an opened position and, consequently when anvil(360) is in a fully closed position, the vertical surface (375) ofclosure ring (370) engages vertical surface (368) of anvil (360) inorder to urge anvil (360) distally, which causes anvil (360) to pivottoward a fully closed position, as described above with regard to endeffector (240). As anvil (360) transitions from an opened positiontoward a fully closed position, tab (372) of closure ring (370) travelsdistally relative to tab (365) of anvil (360) before vertical surface(375) of closure ring (370) engages vertical surface (368) of anvil(360), which allows distal flange (304) of elastomeric insert (300) toexpand distally to occupy at least a portion of the gap between tab(372) and tab (365). During at least a portion of the closure stroke(i.e., the transition of anvil (360) toward a fully closed position),distal surface (306) of elastomeric insert (300) remains in contact withproximal surface (373) located on the proximal end of tab (372) ofclosure ring (370). In some embodiments, elastomeric insert (300) isdimensioned such that distal surface (306) of elastomeric insert (300)remains in contact with proximal surface (373) of tab (372) of closurering (370) during the entire closure stroke. By maintaining contactbetween elastomeric insert (300) and tab (372) of closure ring (370)during at least a portion of the closure stroke, elastomeric insert(300) is able to provide a force on closure ring (370) that can dampenthe closure profile, thereby enabling a smooth closure stroke.

Conversely, FIGS. 24B and 25B depict the interaction between anvil (360)and closure ring (370) when anvil (360) is in a fully opened position.As anvil (360) transitions from a fully closed position toward a fullyopened position, tab (372) of closure ring (370) travels proximallyrelative to tab (365) of anvil (360). Accordingly, during at least aportion of the opening stroke (i.e., the transition of anvil (360)toward a fully opened position) elastomeric insert (300) is compressedbetween closure ring (370) and anvil (360). In some embodiments,elastomeric insert (300) is dimensioned such that distal surface (306)of elastomeric insert (300) is in contact with proximal surface (373) oftab (372) of closure ring (370) during the entire opening stroke.Specifically, as tab (372) of closure ring (370) travels toward tab(365) of anvil (360), distal flange (304) of elastomeric insert (300) iscompressed between proximal surface (373) of tab (372) and distalsurface (367) of tab (365). As a result of this compression, when anvil(360) is in a fully opened position, elastomeric insert (300) improvesthe stability of anvil (360) by providing a resistive load on anvil(360) sufficient to bias anvil (360) to remain in the fully openedposition thereby reducing undesired movement or “flopping” of anvil(360) when anvil (360) is in the fully opened position. It will beunderstood that the resistive load provided by elastomeric insert (300)is able to be overcome during a closure stroke of anvil (360) such thatanvil (360) is pivotable to a fully closed position. In conjunction withthe compression of elastomeric insert (300), closure ring (370) alsoengages tab (365) through elastomeric insert (300) and drives anvil(360) proximally, thereby causing anvil (360) to pivot toward the fullyopened position, as described above with regard to end effector (240).

B. Exemplary Elastomeric Insert with Star-Shaped Opening for EndEffector

FIGS. 26-27 depict an alternate exemplary elastomeric insert (400)configured to be used in conjunction with an exemplary end effector andclosure ring, including but not limited to end effector (240) andclosure ring (270) described above. FIGS. 28-29 depict elastomericinsert (400) positioned on an anvil (460) that is substantially similarto anvil (260) described above. FIGS. 30A-31B depict detailed views ofan end effector (440) comprising elastomeric insert (400), anvil (460),and closure ring (470) and the interaction between elastomeric insert(400), anvil (460) and closure ring (470) when end effector (440) is ina fully closed position and a fully opened position. Closure ring (470)is substantially similar to closure ring (270) described above andincludes a tab (472) positioned within an opening (474) similar to tab(272) and opening (274) described above. Except for the addition ofelastomeric insert (400), the components of end effector (440) aresubstantially similar and function substantially similarly to those ofend effectors (40, 240) described above. Accordingly, the description ofthose previously discussed components of end effector (440) will not berepeated here.

As shown in FIGS. 26-31B, elastomeric insert (400) comprises asubstantially rectangularly shaped insert comprising an opening (402), adistal flange (404) having a distal surface (406) and a proximal flange(408). Of course, insert (400) may have a variety of alternative shapes,including but not limited to circular, ovular, triangular, etc. In thisembodiment, opening (402) is sized and shaped to receive at least aportion of an anvil, such as tab (465) of anvil (460). In particular, inthe illustrated embodiment, opening (402) comprises a profile that issubstantially different from the profile of tab (465). Specifically, asshown, opening (402) comprises an accordion-shaped or star-shapedprofile. As shown, opening (402) is positioned substantially in thecenter of elastomeric insert (400) between distal flange (404) andproximal flange (408). In other embodiments, the opening (402) may bepositioned elsewhere within the body of the insert (e.g., so that thecentral axis of the opening (402) is substantially off-center relativeto the overall dimensions of the insert), provided that the opening isstill positioned between a distal flange and a proximal flange. Inaddition, in the illustrated embodiment, opening (402) extends throughthe entire thickness of elastomeric insert (400). In other embodiments,the opening may extend through only a portion of the thickness of theinsert, provided the opening is still configured to receive at least aportion of a corresponding anvil, such as tab (465) of anvil (460).

Insert (400) may comprise an elastomeric material that is compressiblein response to a load being applied to the insert (400). The material ofinsert (400) may also be conformable to allow insert (400) sufficientlyoccupy at least a portion of the gap around the components located at aninterface of closure ring (470) and anvil (460). In preferredembodiments, insert (400) comprises a material that is suitable andacceptable for use in medical procedures, including surgical proceduresof the type described herein. By way of example only, elastomeric insert(400) may comprise santoprene, polyurethane, isoprene, Versaflex GLS360-135, some other compliant plastic material(s), some other rubbercompliant material(s), foam, spring steel, other alloys, and/or anyother suitable materials capable of improving the stability of anvil(460) by providing a resistive load sufficient to bias anvil (460) toremain in a fully opened position when anvil (460) is in a fully openedposition thereby reducing undesired movement or “flopping” of anvil(460) when anvil (460) is in a fully opened position, while alsodampening the closure profile to provide a smooth closure as anvil (460)transitions toward a fully closed position.

As shown in FIGS. 28-29, elastomeric insert (400) is positioned on anvil(460) such that at least a portion of tab (465) of anvil (460) isreceived within the opening (402) of elastomeric insert (400).Accordingly, distal flange (404) of elastomeric insert (400) ispositioned distally relative to tab (465) and proximal flange (408) ofelastomeric insert (400) is positioned proximally relative to tab (465).As illustrated by FIGS. 30A-31B, when anvil (460) is assembled togetherwith closure ring (470), elastomeric insert (400) is positioned at aninterface between anvil (460) and closure ring (470). Specifically, asshown, distal flange (404) of elastomeric insert (400) is positionedbetween tab (472) of closure ring (470) and tab (465) of anvil (460).

Similar to anvil (260) described above, during opening and closing,anvil (460) pivots relative to a lower jaw similar to lower jaw (250)described above about an axis that is defined by outwardly extendingpins (466), which are similar to pins (266) described above. Pins (466)are configured to interact with openings, such as openings (254), in thelower jaw. Accordingly, similar to anvil (260) described above, thepivot axis of anvil (460) translates along the path defined by theopenings in the lower jaw while anvil (460) simultaneously pivots aboutthat axis. In addition or in the alternative, the pivot axis may slidealong the openings first, with anvil (460) then pivoting about the pivotaxis after the pivot axis has slid a certain distance along theopenings. It should be understood that such sliding/translating pivotalmovement is encompassed within terms such as “pivot,” “pivots,”“pivotal,” “pivotable,” “pivoting,” and the like. Of course, someversions may provide pivotal movement of anvil (460) about an axis thatremains fixed and does not translate within a slot or channel, etc.

FIGS. 30A and 31A depict the interaction between anvil (460) and closurering (470) when anvil (460) is in a fully closed position. As shown inFIGS. 30A and 31A and as described above with regard to anvil (260) andclosure ring (270), when anvil (460) is transitioned toward a fullyclosed position from a fully opened position and, consequently whenanvil (460) is in a fully closed position, the vertical surface (475) ofclosure ring (470) engages vertical surface (468) of anvil (460) inorder to urge anvil (460) distally, which causes anvil (460) to pivottoward a fully closed position, as described above with regard to endeffector (240). As anvil (460) transitions from a fully opened positiontoward a fully closed position, tab (472) of closure ring (470) travelsdistally relative to tab (465) of anvil (460) before vertical surface(475) of closure ring (470) engages vertical surface (468) of anvil(460), which allows distal flange (404) of elastomeric insert (400) toexpand distally to occupy at least a portion of the gap between tab(472) and tab (465). During at least a portion of the closure stroke(i.e., the transition of anvil (460) toward a fully closed position),distal surface (406) of elastomeric insert (400) remains in contact withproximal surface (473) located on the proximal end of tab (472) ofclosure ring (470). In some embodiments, elastomeric insert (400) isdimensioned such that distal surface (406) of elastomeric insert (400)remains in contact with proximal surface (473) of tab (472) of closurering (470) during the entire closure stroke. By maintaining contactbetween elastomeric insert (400) and tab (472) of closure ring (470)during at least a portion of the closure stroke, elastomeric insert(400) is able to provide a force on closure ring (470) that can dampenthe closure profile, thereby enabling a smooth closure stroke. Thestar-shaped profile of opening (402) may result in elastomeric insert(400) providing a substantially different amount of force on closurering (470) during the closure stroke compared to an elastomeric insertthat includes an opening that has a profile that is similar to thecorresponding tab received within the opening, such as elastomericinsert (300) described above.

In some versions, insert (400) is not formed of elastomeric material.For instance, insert (400) may be formed of spring steel or some otheralloy. In some such versions, the star-shaped geometry of the materialdefining opening (402) may still provide effects on anvil (460) that aresimilar to effects provided on anvil (460) by an elastomeric insert suchas insert (300) described above. For instance, the regions of the springsteel defining opening (402) may deflect yet still bear against tab(465), similar to elastomeric material forming insert (300) describedabove. In addition to defining a star shape, the regions of the springsteel defining opening (402) may have an accordion-like profile (e.g.,bent in a zig-zag formation), which may further promote deformation ofthose regions.

Conversely, FIGS. 30B and 31B depict the interaction between anvil (460)and closure ring (470) when anvil (460) is in a fully opened position.As anvil (460) transitions from a fully closed position toward a fullyopened position, tab (472) of closure ring (470) travels proximallyrelative to tab (465) of anvil (460). Accordingly, during at least aportion of the opening stroke (i.e., the transition of anvil (460)toward a fully opened position) elastomeric insert (400) is compressedbetween closure ring (470) and anvil (460). In some embodiments,elastomeric insert (400) is dimensioned such that distal surface (406)of elastomeric insert (400) is in contact with proximal surface (473) oftab (472) of closure ring (470) during the entire opening stroke.Specifically, as tab (472) of closure ring (470) travels toward tab(465) of anvil (460), distal flange (404) of elastomeric insert (400) iscompressed between proximal surface (473) of tab (472) and distalsurface (467) of tab (465). As a result of this compression, when anvil(460) is in a fully opened position, elastomeric insert (400) improvesthe stability of anvil (460) by providing a resistive load on anvil(460) sufficient to bias anvil (460) to remain in the fully openedposition thereby reducing undesired movement or “flopping” of anvil(460) when anvil (460) is in the fully opened position. It will beunderstood that the resistive load provided by elastomeric insert (400)is able to be overcome during a closure stroke of anvil (460) such thatanvil (460) is pivotable to a fully closed position. In conjunction withthe compression of elastomeric insert (400), closure ring (470) alsoengages tab (465) through elastomeric insert (400) and drives anvil(460) proximally, thereby causing anvil (460) to pivot toward the fullyopened position, as described above with regard to end effector (240).The star-shaped profile of opening (402) may result in elastomericinsert (400) providing a substantially different amount of force onanvil (460) during the opening stroke compared to an elastomeric insertthat includes an opening that has a profile that is similar to thecorresponding tab received within the opening, such as elastomericinsert (300) described above. As noted above, even in versions whereinsert (400) is not formed of an elastomeric material, the star-shapedgeometry of the material defining opening (402) may still provide thesesame effects on anvil (460).

C. Exemplary Anvil with Layer of Elastomeric Material

FIGS. 32-33 depict an exemplary layer of elastomeric material (500)configured to be used in conjunction with an exemplary end effector andclosure ring, including but not limited to end effector (240) andclosure ring (270) described above. In the illustrated embodiment,elastomeric layer (500) is positioned on an anvil (560) that issubstantially similar to anvil (260) described above. FIGS. 34A-35Bdepict detailed views of an end effector (540) comprising elastomericlayer (500), anvil (560), and closure ring (570) and the interactionbetween elastomeric layer (500), anvil (560) and closure ring (570) whenend effector (540) is in a fully closed position and a fully openedposition. Closure ring (570) is substantially similar to closure ring(270) described above and includes a tab (572) positioned within anopening (574) similar to tab (272) and opening (274) described above.Except for the addition of elastomeric layer (500), the components ofend effector (540) are substantially similar and function substantiallysimilarly to those of end effectors (40, 240) described above.Accordingly, the description of those previously discussed components ofend effector (540) will not be repeated here.

As shown in FIGS. 32-35B, elastomeric layer (500) comprises a layer ofelastomeric material applied to tab (565) of anvil (560). Specifically,in the illustrated embodiment, elastomeric layer (500) is applied todistal surface (567) of tab (565). As shown, elastomeric layer (500) issubstantially coextensive with distal surface (567). It will beappreciated that in some embodiments, elastomeric layer (500) may coveronly a portion of distal surface (567) of tab (565), provided that asufficient amount of elastomeric material is provided and a sufficientamount of distal surface (567) is covered to improve the stability ofanvil (560) by providing a resistive load on anvil (560) sufficient tobias anvil (560) to remain in a fully opened position when anvil (560)is in a fully opened position thereby reducing undesired movement or“flopping” of anvil (560) when anvil (560) is in a fully openedposition. Elastomeric layer (500) may be attached to tab (565) of anvil(560) using any suitable devices or methods, including but not limitedto applying an adhesive between elastomeric layer (500) and tab (565),insert molding elastomeric layer (500) into tab (565) (which may includeproviding an opening in tab (565) similar to opening (671) in tab (672)described below), and overmolding elastomeric layer (500) onto tab(565).

Elastomeric layer (500) may comprise an elastomeric material that iscompressible in response to a load being applied to the layer (500). Thematerial of layer (500) may also be conformable to allow layer (500) tosufficiently occupy at least a portion of the gap around the componentslocated at an interface of closure ring (570) and anvil (560). Inpreferred embodiments, layer (500) comprises a material that is suitableand acceptable for use in medical procedures, including surgicalprocedures of the type described herein. By way of example only,elastomeric layer (500) may comprise santoprene, polyurethane, isoprene,Versaflex GLS 360-135, some other compliant plastic material(s), someother rubber compliant material(s), foam, and/or any other suitablematerials capable of improving the stability of anvil (560) by providinga resistive load sufficient to bias anvil (560) to remain in a fullyopened position when anvil (560) is in a fully opened position therebyreducing undesired movement or “flopping” of anvil (560) when anvil(560) is in a fully opened position.

As shown in FIGS. 32-33, elastomeric layer (500) is positioned on anvil(560) such that elastomeric layer (500) is positioned distally relativeto tab (565). As illustrated by FIGS. 34A-35B, when anvil (560) isassembled together with closure ring (570), elastomeric layer (500) ispositioned at an interface between anvil (560) and closure ring (570).Specifically, as shown, elastomeric layer (500) is positioned betweentab (572) of closure ring (570) and tab (565) of anvil (560).

Similar to anvil (260) described above, during opening and closing,anvil (560) pivots relative to a lower jaw similar to lower jaw (250)described above about an axis that is defined by pins (566), which aresimilar to pins (266) described above. Pins (566) are configured tointeract with openings, such as openings (254), in the lower jaw.Accordingly, similar to anvil (260) described above, the pivot axis ofanvil (560) translates along the path defined by the openings in thelower jaw while anvil (560) simultaneously pivots about that axis. Inaddition or in the alternative, the pivot axis may slide along theopenings first, with anvil (560) then pivoting about the pivot axisafter the pivot axis has slid a certain distance along the openings. Itshould be understood that such sliding/translating pivotal movement isencompassed within terms such as “pivot,” “pivots,” “pivotal,”“pivotable,” “pivoting,” and the like. Of course, some versions mayprovide pivotal movement of anvil (560) about an axis that remains fixedand does not translate within a slot or channel, etc.

FIGS. 34A and 35A depict the interaction between anvil (560) and closurering (570) when anvil (560) is in a fully closed position. As shown inFIGS. 34A and 35A and as described above with regard to anvil (260) andclosure ring (270), when anvil (560) is transitioned toward a fullyclosed position from a fully opened position and, consequently whenanvil (560) is in a fully closed position, the vertical surface (575) ofclosure ring (570) engages vertical surface (568) of anvil (560) inorder to urge anvil (560) distally, which causes anvil (560) to pivottoward a fully closed position, as described above with regard to endeffector (240). As anvil (560) transitions from a fully opened positiontoward a fully closed position, tab (572) of closure ring (570) travelsdistally relative to tab (565) of anvil (560) before vertical surface(575) of closure ring (570) engages vertical surface (568) of anvil(560), which allows elastomeric layer (500) to expand distally to occupyat least a portion of the gap between tab (572) and tab (565). During atleast a portion of the closure stroke (i.e., the transition of anvil(560) toward a fully closed position), distal surface (506) ofelastomeric layer (500) remains in contact with proximal surface (573)located on the proximal end of tab (572) of closure ring (570). In someembodiments, elastomeric layer (500) is dimensioned such that distalsurface (506) of elastomeric layer (500) remains in contact withproximal surface (573) of tab (572) of closure ring (570) during theentire closure stroke. By maintaining contact between elastomeric layer(500) and tab (572) of closure ring (570) during at least a portion ofthe closure stroke, elastomeric layer (500) is able to provide a forceon closure ring (570) that can dampen the closure profile, therebyenabling a smooth closure stroke. In some versions, elastomeric layer(500) is formed of a material with lubricious properties, and/orelastomeric layer (500) is treated with a lubricant, to further providea smooth closure stroke of anvil (560) during distal advancement ofclosure ring (570).

Conversely, FIGS. 34B and 35B depict the interaction between anvil (560)and closure ring (570) when anvil (560) is in a fully opened position.As anvil (560) transitions from a fully closed position toward a fullyopened position, tab (572) of closure ring (570) travels proximallyrelative to tab (565) of anvil (560). Accordingly, during at least aportion of the opening stroke (i.e., the transition of anvil (560)toward a fully opened position) elastomeric layer (500) is compressedbetween closure ring (570) and anvil (560). In some embodiments,elastomeric layer (500) is dimensioned such that distal surface (506) ofelastomeric layer (500) is in contact with proximal surface (573) of tab(572) of closure ring (570) during the entire opening stroke.Specifically, as tab (572) of closure ring (570) travels toward tab(565) of anvil (560), elastomeric layer (500) is compressed betweenproximal surface (573) of tab (572) and distal surface (567) of tab(565). As a result of this compression, when anvil (560) is in a fullyopened position, elastomeric layer (500) improves the stability of anvil(560) by providing a resistive load on anvil (560) sufficient to biasanvil (560) to remain in a fully opened position thereby reducingundesired movement or “flopping” of anvil (560) when anvil (560) is in afully opened position. It will be understood that the resistive loadprovided by elastomeric layer (500) is able to be overcome during aclosure stroke of anvil (560) such that anvil (560) is pivotable to afully closed position. In conjunction with the compression ofelastomeric layer (500), closure ring (570) also engages tab (565)through elastomeric layer (500) and drives anvil (560) proximally,thereby causing anvil (560) to pivot toward the fully opened position,as described above with regard to end effector (240). In some versions,a ribbed or ridged surface profile of distal surface (506) may provide aratcheting feature during opening of anvil (560) and/or may providefurther security to the open position of anvil (560). In other words,one or more ribs or ridges on distal surface (506) may further engagetab (572) to assist in holding anvil (560) in an open position.Alternatively, distal surface (506) may be flat or have any othersuitable surface properties.

D. Exemplary Closure Ring with Layer of Elastomeric Material

FIG. 36 depicts an alternate exemplary layer of elastomeric material(600) configured to be used in conjunction with an exemplary endeffector and closure ring, including but not limited to end effector(240) and closure ring (270) described above. In the illustratedembodiment, elastomeric layer (600) is positioned on a closure ring(670) that is substantially similar to closure ring (270) describedabove and includes a tab (672) positioned within an opening (674)similar to tab (272) and opening (274) described above. FIGS. 37A-38Bdepict detailed views of an end effector (640) comprising elastomericlayer (600), anvil (660), which is substantially similar to anvil (260)described above, and closure ring (670) and the interaction betweenelastomeric layer (600), anvil (660), and closure ring (670) when endeffector (640) is in a fully closed position and a fully openedposition.

As shown in FIGS. 36-38B, elastomeric layer (600) comprises a layer ofelastomeric material applied to tab (672) of closure ring (670).Specifically, in the illustrated embodiment, elastomeric layer (600) isapplied to proximal surface (673) of tab (672) and a portion of bottomsurface (676) of tab (672). As shown, elastomeric layer (600) issubstantially coextensive with proximal surface (673). It will beappreciated that in some embodiments, elastomeric layer (600) may coveronly a portion of proximal surface (673) of tab (672) and/or may belimited to just proximal surface (673) instead of being applied to bothproximal surface (673) and a portion of bottom surface (676), providedthat a sufficient amount of elastomeric material is provided and asufficient amount of proximal surface (673) is covered to improve thestability of anvil (660) by providing a resistive load on anvil (660)sufficient to bias anvil (660) to remain in a fully opened position whenanvil (660) is in a fully opened position thereby reducing undesiredmovement or “flopping” of anvil (660) when anvil (660) is in a fullyopened position. Elastomeric layer (600) may be attached to tab (672) ofclosure ring (670) using any suitable devices or methods, including butnot limited to applying an adhesive between elastomeric layer (600) andtab (672), insert molding elastomeric layer (600) into tab (672), andovermolding elastomeric layer (600) onto tab (672). As shown, closurering (670) includes an opening (671) in tab (672) configured to allowelastomeric layer (600) to be insert molded into tab (672). In otherembodiments, particularly those where the elastomeric layer is attachedto the tab of the closure ring using a device or method other thaninsert molding, such as adhesive, the opening in the tab may be omitted.

Elastomeric layer (600) may comprise an elastomeric material that iscompressible in response to a load being applied to the layer (600). Thematerial of layer (600) may also be conformable to allow layer (600) tosufficiently occupy at least a portion of the gap around the componentslocated at an interface of closure ring (670) and anvil (660). Inpreferred embodiments, layer (600) comprises a material that is suitableand acceptable for use in medical procedures, including surgicalprocedures of the type described herein. By way of example only,elastomeric layer (600) may comprise santoprene, polyurethane, isoprene,Versaflex GLS 360-135, some other compliant plastic material(s), someother rubber compliant material(s), foam, and/or any other suitablematerials capable of improving the stability of anvil (660) by providinga resistive load sufficient to bias the anvil to remain in a fullyopened position when anvil (660) is in a fully opened position therebyreducing undesired movement or “flopping” of anvil (660) when anvil(660) is in a fully opened position.

As shown in FIG. 36, elastomeric layer (600) is positioned on closurering (670) such that elastomeric layer (600) is positioned distallyrelative to tab (672). As illustrated by FIGS. 37A-38B, when anvil (660)is assembled together with closure ring (670), elastomeric layer (600)is positioned at an interface between anvil (660) and closure ring(670). Specifically, as shown, elastomeric layer (600) is positionedbetween tab (672) of closure ring (670) and tab (665) of anvil (660).

FIGS. 37A and 38A depict the interaction between anvil (660) and closurering (670) when anvil (660) is in a fully closed position. As shown inFIGS. 37A and 38A and as described above with regard to anvil (260) andclosure ring (270), when anvil (660) is transitioned toward a fullyclosed position from a fully opened position and, consequently whenanvil (660) is in a fully closed position, the vertical surface (675) ofclosure ring (670) engages vertical surface (668) of anvil (660) inorder to urge anvil (660) distally, which causes anvil (660) to pivottoward a fully closed position, as described above with regard to endeffector (240). As anvil (660) transitions from a fully opened positiontoward a fully closed position, tab (672) of closure ring (670) travelsdistally relative to tab (665) of anvil (660) before vertical surface(675) of closure ring (670) engages vertical surface (668) of anvil(660), which allows elastomeric layer (600) to expand proximally tooccupy at least a portion of the gap between tab (672) and tab (665).During at least a portion of the closure stroke (i.e., the transition ofanvil (660) toward a fully closed position), proximal surface (606) ofelastomeric layer (600) remains in contact with distal surface (667) oftab (665). In some embodiments, elastomeric layer (600) is dimensionedsuch that proximal surface (606) of elastomeric layer (600) remains incontact with distal surface (667) of tab (665) of anvil (660) during theentire closure stroke. By maintaining contact between elastomeric layer(600) and tab (665) of anvil (660) during at least a portion of theclosure stroke, elastomeric layer (600) is able to provide a force onanvil (660) that can dampen the closure profile, thereby enabling asmooth closure stroke. In some versions, elastomeric layer (600) isformed of a material with lubricious properties, and/or elastomericlayer (600) is treated with a lubricant, to further provide a smoothclosure stroke of anvil (660) during distal advancement of closure ring(670).

Conversely, FIGS. 37B and 38B depict the interaction between anvil (660)and closure ring (670) when anvil (660) is in a fully opened position.As anvil (660) transitions from a fully closed position toward a fullyopened position, tab (672) of closure ring (670) travels proximallyrelative to tab (665) of anvil (660). Accordingly, during at least aportion of the opening stroke (i.e., the transition of anvil (660)toward a fully opened position) elastomeric layer (600) is compressedbetween closure ring (670) and anvil (660). In some embodiments,elastomeric layer (600) is dimensioned such that proximal surface (606)of elastomeric layer (600) is in contact with distal surface (667) oftab (665) of closure ring (670) during the entire opening stroke.Specifically, as tab (672) of closure ring (670) travels toward tab(665) of anvil (660), elastomeric layer (600) is compressed betweenproximal surface (673) of tab (672) and distal surface (667) of tab(665). As a result of this compression, when anvil (660) is in a fullyopened position, elastomeric layer (600) improves the stability of anvil(660) by providing a resistive load on anvil (660) sufficient to biasanvil (660) to remain in a fully opened position thereby reducingundesired movement or “flopping” of anvil (660) when anvil (660) is in afully opened position. It will be understood that the resistive loadprovided by elastomeric layer (600) is able to be overcome during aclosure stroke of anvil (660) such that anvil (660) is pivotable to afully closed position. In conjunction with the compression ofelastomeric layer (600), closure ring (670) also engages tab (665)through elastomeric layer (600) and drives anvil (660) proximally,thereby causing anvil (660) to pivot toward the fully opened position,as described above with regard to end effector (240). In some versions,elastomeric layer (600) has a ridged or ribbed surface profile, similarto layer (500) described above. Alternatively, elastomeric layer (600)may have a smooth surface profile or any other suitable kind of surfaceprofile.

E. Exemplary End Effector with Torsion Springs

FIG. 39 depicts an exemplary resilient member comprising a pair ofsprings (700 a, 700 b) configured to be used in conjunction with anexemplary end effector, including but not limited to end effector (240)described above. In the illustrated embodiment, springs (700 a, 700 b)are positioned on an anvil (760) that is substantially similar to anvil(260) described above. FIGS. 40-41B depict different views of theinteraction between springs (700 a, 700 b), anvil (760), and lower jaw(750), which is substantially similar to lower jaw (50) described above,when anvil (760) is in a fully closed position and a fully openedposition. By way of example only, springs (700 a, 700 b) may be formedof spring steel, such as stainless spring steel strip in type 301 andtype 420; or some other alloy. Alternatively, any other suitablematerial(s) may be used to form springs (700 a, 700 b).

FIGS. 39-41B depict end effector (740), which is substantially similarto end effectors (40, 240) described above. Except for the addition ofsprings (700 a, 700 b), the components of end effector (740) aresubstantially similar and function substantially similarly to those ofend effectors (40, 240) described above. Accordingly, the description ofthose previously discussed components of end effector (740) will not berepeated here. Although the illustrated embodiment depicts a pair ofsprings (700 a, 700 b), which allows springs (700 a, 700 b) to provide abiasing force evenly on both sides of anvil (760), it will beappreciated that other embodiments may include any suitable number ofsprings, including one spring or three or more springs.

In the illustrated embodiment, each spring (700 a, 700 b) comprises anupper leg (702 a, 702 b) and a lower leg (704 a, 704 b). Springs (700 a,700 b) are configured such that upper legs (702 a, 702 b) are angularlybiased away from lower legs (704 a, 704 b) when springs (700 a, 700 b)are in an uncompressed state. Springs (700 a, 700 b) may be configuredsuch that upper legs (702 a, 702 b) extend at an acute angle relative tolower legs (704 a, 704 b) when springs (700 a, 700 b) are in anuncompressed state. As shown, springs (700 a, 700 b) are positionedrelative to anvil (760) such that upper leg (702 a, 702 b) of eachrespective spring (700 a, 700 b) engages and bears against anvil (760)and lower leg (704 a, 704 b) engages and bears against lower jaw (750).Specifically, each of the upper legs (702 a, 702 b) are positioned tothe interior of flanges (762) so that they contact the interior surface(761) of anvil (760), while each of the lower legs (704 a, 704 b) arepositioned to the interior of sidewalls (751) so that they contact thebottom surface (753) of lower jaw (750). Of course, upper legs (702 a,702 b) may contact any suitable region of anvil (760) and/or any othercomponent that is secured to anvil (760). Similarly, lower legs (704 a,704 b) may contact any other region of lower jaw (750) and/or any othercomponent that is secured to lower jaw (750). It should also beunderstood that any other suitable kind of spring(s) may be used,including but not limited to a cantilever spring that is mounted toanvil (760), lower jaw (750), or a cartridge disposed in lower jaw.

As shown, the interior surface (761) comprises the surface on theunderside of anvil (760) that extends between the outer flanges (762) ofanvil (760). Accordingly, springs (700 a, 700 b), apply angularlyoutwardly oriented forces on anvil (760) and lower jaw (750) that biasanvil (760) toward a fully opened position. As shown, springs (700 a,700 b) are each positioned about a respective outwardly extending pin(766) of anvil (760), which are substantially similar to outwardlyextending pins (66, 266) described above. In the illustrated embodiment,springs (700 a, 700 b) comprise helical torsion springs where at least aportion of the coil of each spring (700 a, 700 b) is positioned around arespective pin (766). Springs (700 a, 700 b) may be positioned aboutpins (766) between anvil (760) and the inner surface of thecorresponding side wall (751) of lower jaw (750) when anvil (760) andlower jaw (750) are assembled together.

Springs (700 a, 700 b) are configured to provide a resistive loadsufficient to bias anvil (760) to remain in a fully opened position whenanvil (760) is in a fully opened position thereby reducing undesiredmovement or “flopping” of anvil (760) when anvil (760) is in a fullyopened position. Springs (700 a, 700 b) may be configured to provide asubstantially constant force on anvil (760) that biases anvil (760)toward a fully opened position by remaining in substantially constantcontact with anvil (760). In addition, as illustrated by FIG. 41A, theresistive load provided by springs (700 a, 700 b) is able to be overcomeduring a closure stroke of end effector (740) (i.e., the transition ofanvil (760) toward a fully closed position) such that anvil (760) ispivotable to a fully closed position. It will be understood that theresistive load provided by springs (700 a, 700 b) is able to be overcomeduring a closure stroke of the device, whether that closure stroke iseffectuated by the distal translation of a closure ring, such as closurering (270) described above, the distal translation of a knife member,such as knife member (80) described above, or a combination thereof. Asshown in FIG. 41A, during a closure stroke of end effector (740), upperlegs (702 a, 702 b) are compressed downwardly toward lower legs (704 a,704 b) as anvil (760) pivots toward lower jaw (750) and into a fullyclosed position. Springs (700 a, 700 b) may be configured and positionedsuch that upper legs (702 a, 702 b) are substantially parallel relativeto bottom surface (753) of lower jaw (750) and lower legs (704 a, 704 b)are positioned at an acute angle relative to bottom surface (753) oflower jaw (750) when anvil (760) is in a fully closed position.Conversely, as shown in FIG. 41B, during an opening stroke of endeffector (740) (i.e., the transition of anvil (760) toward a fullyopened position), upper legs (702 a, 702 b) expand upwardly away fromrespective lower legs (704 a, 704 b) as anvil (760) pivots away fromlower jaw (750) toward a fully opened position. Springs (700 a, 700 b)may be configured and positioned such that upper legs (702 a, 702 b) arepositioned at an acute angle relative to bottom surface (753) of lowerjaw (750) and lower legs (704 a, 704 b) are substantially parallel withbottom surface (753) of lower jaw (750) when anvil (760) is in a fullyopened position.

In the illustrated embodiment, because springs (700 a, 700 b) arepositioned around pins (766), springs (700 a, 700 b) translate unitarilywith anvil (760) in a distal direction as pins (766) travel along thecorresponding openings (754) in sidewalls (751) of lower jaw (750)during a closure stroke of end effector (740). Correspondingly, springs(700 a, 700 b) also translate unitarily with anvil (760) in a proximaldirection as pins (766) travel along the corresponding openings (754) insidewalls (751) of lower jaw (750) during an opening stroke of endeffector (740).

F. Exemplary Staple Cartridge with Leaf Springs

FIG. 42 depicts an alternate exemplary resilient member comprising atray (876) comprising a pair or resilient arms (800 a, 800 b) configuredto be used in conjunction with an exemplary end effector, including butnot limited to end effector (240) described above. In the illustratedembodiment, tray (876) comprises a pair of resilient arms (800 a, 800 b)that extend away from tray (876) at an angle. Except for the addition ofresilient arms (800 a, 800 b), tray (876) is substantially similar totray (76) described above. Resilient arms (800 a, 800 b) may comprisestructures that are integrally formed with tray (876) or structures thatstructures that are separate from and attached to tray (876). FIGS.43-44B depict different views of the interaction between resilient arms(800 a, 800 b), anvil (860), and lower jaw (850), which is substantiallysimilar to lower jaw (50) described above, when anvil (860) is in aclosed position and an open position.

FIGS. 42-44B depict end effector (840), which is substantially similarto end effectors (40, 240) described above. Except for the addition ofresilient arms (800 a, 800 b), the components of end effector (840) aresubstantially similar and function substantially similarly to those ofend effectors (40, 240) described above. Accordingly, the description ofthose previously discussed components of end effector (840) will not berepeated here. Although the illustrated embodiment depicts a pair ofresilient arms (800 a, 800 b), which allows resilient arms (800 a, 800b) to provide a biasing force evenly on both sides of anvil (860), itwill be appreciated that other embodiments may include any suitablenumber of resilient arms, including one resilient arm or three or moreresilient arms.

In the illustrated embodiment, resilient arms (800 a, 800 b) areconfigured as leaf springs positioned at a proximal end of tray (876)and are configured such that resilient arms (800 a, 800 b) are biasedaway from tray (876) when resilient arms (800 a, 800 b) are in anuncompressed state. Resilient arms (800 a, 800 b) may be configured suchthat resilient arms (800 a, 800 b) extend at an acute angle relative tobottom surface (875) of tray (876) when resilient arms (800 a, 800 b)are in an uncompressed state. As shown, resilient arms (800 a, 800 b)are positioned relative to anvil (860) such that resilient arms (800 a,800 b) engage anvil (860) when end effector (840), including tray (870),is fully assembled. Specifically, each of the resilient arms (800 a, 800b) are positioned so that they contact the interior surface (861) ofanvil (860). As shown, the interior surface (861) comprises the surfaceon the underside of anvil (860) that extends between the outer flanges(862) of anvil (860). Accordingly, resilient arms (800 a, 800 b) apply aforce on anvil (860) that biases anvil (860) toward a fully openedposition. In alternate embodiments, resilient arms (800 a, 800 b) couldcomprise separately formed springs that are attached to tray (876).

Resilient arms (800 a, 800 b) are configured to provide a resistive loadsufficient to bias anvil (860) to remain in a fully opened position whenanvil (860) is in a fully opened position thereby reducing undesiredmovement or “flopping” of anvil (860) when anvil (860) is in a fullyopened position. Resilient arms (800 a, 800 b) may be configured toprovide a substantially constant force on anvil (860) that biases anvil(860) toward a fully opened position by remaining in substantiallyconstant contact with anvil (860). In addition, as illustrated by FIG.44A, the resistive load provided by resilient arms (800 a, 800 b) isable to be overcome during a closure stroke of end effector (840) (i.e.,the transition of anvil (860) toward a fully closed position) such thatanvil (860) is pivotable to a fully closed position. It will beunderstood that the resistive load provided by resilient arms (800 a,800 b) is able to be overcome during a closure stroke of the device,whether that closure stroke is effectuated by the distal translation ofa closure ring, such as closure ring (270) described above, the distaltranslation of a knife member, such as knife member (80) describedabove, or a combination thereof. As shown in FIG. 44A, during a closurestroke of end effector (840), resilient arms (800 a, 800 b) arecompressed downwardly toward tray (876) as anvil (860) pivots towardlower jaw (850) and into a fully closed position. Resilient arms (800 a,800 b) may be configured and positioned such that resilient arms (800 a,800 b) contact a respective sidewall or other structure of tray (876)and/or are substantially parallel relative to bottom surface (875) oftray (876) when anvil (860) is in a fully closed position. Conversely,as shown in FIG. 44B, during an opening stroke of end effector (840)(i.e., the transition of anvil (860) toward a fully opened position),resilient arms (800 a, 800 b) expand upwardly away from tray (876) asanvil (860) pivots away from lower jaw (850) toward a fully openedposition. Resilient arms (800 a, 800 b) may be configured and positionedsuch that resilient arms (800 a, 800 b) are positioned at an acute anglerelative to bottom surface (875) of tray (876) when anvil (860) is in afully opened position.

IV. Exemplary Alternative End Effector

FIG. 45 depicts another exemplary end effector (900) that may be readilyincorporated into surgical stapling and severing instrument (10). Endeffector (900) is substantially similar to end effectors (40, 240)described above. As a result, the components of end effector (900) aresubstantially similar and function substantially similarly to those ofend effectors (40, 240) described above. Accordingly, the description ofthose previously discussed components of end effector (900) will not berepeated here. It should be understood that end effector (900) includesan anvil (960) a lower jaw (950), and a closure ring (970). Anvil (960)is identical to anvil (260) described above. Lower jaw (950) isidentical to lower jaw (250) described above. Like closure ring (270)described above, closure ring (970) of the present example is operableto advance distally to close anvil (960) toward lower jaw (950); and toretract proximally to open anvil (960) away from lower jaw (950). Endeffector (900) may be coupled with shaft assembly (30) and may be drivenjust like end effectors (40, 240) described above.

As best seen in FIGS. 46-47, closure ring (970) of the present examplehas a lateral hole or opening (974), similar to the lateral hole oropening (274) of closure ring (270). However, unlike closure ring (270),closure ring (970) has a pair of opposing tabs (972) instead of tab(272). Tabs (927) are oriented toward each other, along a common planethat extends perpendicularly relative to the longitudinal axis (LA) ofclosure ring (970). The free ends of tabs (927) are separated from eachother, such that a gap (976) is defined between tabs (927). In someinstances, this gap (976) is sized to accommodate longitudinal movementof knife member (80). In other words, knife member (80) may travelthrough gap (976) during longitudinal movement of knife member (80) insome versions. As best seen in FIG. 48, tabs (927) are also bentinwardly toward the longitudinal axis (LA) in this example. It should beunderstood that tabs (927) may function similar to tab (272). Inparticular, when closure ring (970) is retracted proximally, theproximal surfaces (978) of tabs (927) may engage the distal surface oftab (965) of anvil (960), such that tabs (927) may assist in drivinganvil (960) from the closed position to the open position as closurering (970) is retracted proximally. Tabs (927) may also remain engagedwith tab (965) while anvil (960) is in the open position, such that tabs(927, 965) may cooperate to hold anvil (960) in the open position.

In view of the interchangeability of closure ring (270) with closurering (970), it should be understood that closure ring (970) may bereadily used with anvils (360, 460) and inserts (300, 400). Similarly,closure ring (970) may be readily used with anvil (560) havingelastomeric layer (500). In addition, tabs (972) may each be modified toinclude an elastomeric layer similar to the way in which tab (672) ofclosure ring (670) includes elastomeric layer (600). Furthermore, endeffector (900) may be modified to include springs (700 a, 700 b) likeend effector (740). End effector (900) may also receive a staplecartridge that includes a tray with resilient arms, similar to tray(876) described above.

V. Miscellaneous

It should be understood that any one or more of the teachings,expressions, embodiments, examples, etc. described herein may becombined with any one or more of the other teachings, expressions,embodiments, examples, etc. that are described herein. Theabove-described teachings, expressions, embodiments, examples, etc.should therefore not be viewed in isolation relative to each other.Various suitable ways in which the teachings herein may be combined willbe readily apparent to those of ordinary skill in the art in view of theteachings herein. Such modifications and variations are intended to beincluded within the scope of the claims. By way of example only, endeffectors developed in accordance with the teachings herein mayincorporate more than one of the various types of resilient memberswithin a single end effector, including but not limited to a single endeffector that includes an elastomeric insert or layer of elastomericmaterial and a pair of springs and/or resilient arms and a single endeffector that includes a layer of elastomeric material on both the tabof the anvil and the tab of the closure ring.

It should be appreciated that any patent, publication, or otherdisclosure material, in whole or in part, that is said to beincorporated by reference herein is incorporated herein only to theextent that the incorporated material does not conflict with existingdefinitions, statements, or other disclosure material set forth in thisdisclosure. As such, and to the extent necessary, the disclosure asexplicitly set forth herein supersedes any conflicting materialincorporated herein by reference. Any material, or portion thereof, thatis said to be incorporated by reference herein, but which conflicts withexisting definitions, statements, or other disclosure material set forthherein will only be incorporated to the extent that no conflict arisesbetween that incorporated material and the existing disclosure material.

Versions of the resilient members described above may be used inconjunction with a variety of end effectors. By way of example only,various teachings herein may be readily combined with one or more of theend effectors described in U.S. patent application Ser. No. 13/780,120,entitled “Jaw Closure Feature for End Effector of Surgical Instrument,”filed Feb. 28, 2013, the disclosure of which was previously incorporatedby reference herein above. Other suitable end effectors that can be usedin conjunction with the resilient members disclosed herein will beapparent to those of ordinary skill in the art in view of the teachingsherein.

Versions of the devices described above may have application inconventional medical treatments and procedures conducted by a medicalprofessional, as well as application in robotic-assisted medicaltreatments and procedures. By way of example only, various teachingsherein may be readily incorporated into a robotic surgical system suchas the DAVINCI™ system by Intuitive Surgical, Inc., of Sunnyvale, Calif.Similarly, those of ordinary skill in the art will recognize thatvarious teachings herein may be readily combined with various teachingsof any of the following: U.S. Pat. No. 5,792,135, entitled “ArticulatedSurgical Instrument For Performing Minimally Invasive Surgery WithEnhanced Dexterity and Sensitivity,” issued Aug. 11, 1998, thedisclosure of which is incorporated by reference herein; U.S. Pat. No.5,817,084, entitled “Remote Center Positioning Device with FlexibleDrive,” issued Oct. 6, 1998, the disclosure of which is incorporated byreference herein; U.S. Pat. No. 5,878,193, entitled “Automated EndoscopeSystem for Optimal Positioning,” issued Mar. 2, 1999, the disclosure ofwhich is incorporated by reference herein; U.S. Pat. No. 6,231,565,entitled “Robotic Arm DLUS for Performing Surgical Tasks,” issued May15, 2001, the disclosure of which is incorporated by reference herein;U.S. Pat. No. 6,783,524, entitled “Robotic Surgical Tool with UltrasoundCauterizing and Cutting Instrument,” issued Aug. 31, 2004, thedisclosure of which is incorporated by reference herein; U.S. Pat. No.6,364,888, entitled “Alignment of Master and Slave in a MinimallyInvasive Surgical Apparatus,” issued Apr. 2, 2002, the disclosure ofwhich is incorporated by reference herein; U.S. Pat. No. 7,524,320,entitled “Mechanical Actuator Interface System for Robotic SurgicalTools,” issued Apr. 28, 2009, the disclosure of which is incorporated byreference herein; U.S. Pat. No. 7,691,098, entitled “Platform Link WristMechanism,” issued Apr. 6, 2010, the disclosure of which is incorporatedby reference herein; U.S. Pat. No. 7,806,891, entitled “Repositioningand Reorientation of Master/Slave Relationship in Minimally InvasiveTelesurgery,” issued Oct. 5, 2010, the disclosure of which isincorporated by reference herein; U.S. Pub. No. 2013/0012957, entitled“Automated End Effector Component Reloading System for Use with aRobotic System, published Jan. 10, 2013, the disclosure of which isincorporated by reference herein; U.S. Pub. No. 2012/0199630, entitled“Robotically-Controlled Surgical Instrument with Force-FeedbackCapabilities,” published Aug. 9, 2012, the disclosure of which isincorporated by reference herein; U.S. Pub. No. 2012/0132450, entitled“Shiftable Drive Interface for Robotically-Controlled Surgical Tool,”published May 31, 2012, the disclosure of which is incorporated byreference herein; U.S. Pub. No. 2012/0199633, entitled “SurgicalStapling Instruments with Cam-Driven Staple Deployment Arrangements,”published Aug. 9, 2012, the disclosure of which is incorporated byreference herein; U.S. Pub. No. 2012/0199631, entitled“Robotically-Controlled Motorized Surgical End Effector System withRotary Actuated Closure Systems Having Variable Actuation Speeds,”published Aug. 9, 2012, the disclosure of which is incorporated byreference herein; U.S. Pub. No. 2012/0199632, entitled“Robotically-Controlled Surgical Instrument with SelectivelyArticulatable End Effector,” published Aug. 9, 2012, the disclosure ofwhich is incorporated by reference herein; U.S. Pub. No. 2012/0203247,entitled “Robotically-Controlled Surgical End Effector System,”published Aug. 9, 2012, the disclosure of which is incorporated byreference herein; U.S. Pub. No. 2012/0211546, entitled “Drive Interfacefor Operably Coupling a Manipulatable Surgical Tool to a Robot,”published Aug. 23, 2012; U.S. Pub. No. 2012/0138660, entitled“Robotically-Controlled Cable-Based Surgical End Effectors,” publishedJun. 7, 2012, the disclosure of which is incorporated by referenceherein; and/or U.S. Pub. No. 2012/0205421, entitled“Robotically-Controlled Surgical End Effector System with RotaryActuated Closure Systems,” published Aug. 16, 2012, the disclosure ofwhich is incorporated by reference herein.

Versions of the devices described above may be designed to be disposedof after a single use, or they can be designed to be used multipletimes. Versions may, in either or both cases, be reconditioned for reuseafter at least one use. Reconditioning may include any combination ofthe steps of disassembly of the device, followed by cleaning orreplacement of particular pieces, and subsequent reassembly. Inparticular, some versions of the device may be disassembled, and anynumber of the particular pieces or parts of the device may beselectively replaced or removed in any combination. Upon cleaning and/orreplacement of particular parts, some versions of the device may bereassembled for subsequent use either at a reconditioning facility, orby a user immediately prior to a procedure. Those skilled in the artwill appreciate that reconditioning of a device may utilize a variety oftechniques for disassembly, cleaning/replacement, and reassembly. Use ofsuch techniques, and the resulting reconditioned device, are all withinthe scope of the present application.

By way of example only, versions described herein may be sterilizedbefore and/or after a procedure. In one sterilization technique, thedevice is placed in a closed and sealed container, such as a plastic orTYVEK bag. The container and device may then be placed in a field ofradiation that can penetrate the container, such as gamma radiation,x-rays, or high-energy electrons. The radiation may kill bacteria on thedevice and in the container. The sterilized device may then be stored inthe sterile container for later use. A device may also be sterilizedusing any other technique known in the art, including but not limited tobeta or gamma radiation, ethylene oxide, or steam.

Having shown and described various embodiments of the present invention,further adaptations of the methods and systems described herein may beaccomplished by appropriate modifications by one of ordinary skill inthe art without departing from the scope of the present invention.Several of such potential modifications have been mentioned, and otherswill be apparent to those skilled in the art. For instance, theexamples, embodiments, geometrics, materials, dimensions, ratios, steps,and the like discussed above are illustrative and are not required.Accordingly, the scope of the present invention should be considered interms of the following claims and is understood not to be limited to thedetails of structure and operation shown and described in thespecification and drawings.

1-20. (canceled)
 21. A surgical instrument, comprising: (a) a shaftassembly comprising a translating body, wherein the translating body isconfigured to translate between a distal position, an intermediateposition, and a proximal position; and (b) an end effector extendingdistally from the shaft assembly, wherein the end effector comprises:(i) a jaw, (ii) an anvil pivotably coupled to the jaw between an openposition and a closed position, wherein the translating body of theshaft assembly is configured to translate from the proximal positioninto the distal position to pivot the anvil from the open position intothe closed position, (iii) a first anvil opening assembly biasing theanvil toward the open position, wherein the first anvil opening assemblyis configured to drive the anvil from the closed position toward theopen position in response to the translating body translating from thedistal position to the intermediate position, and (iv) a second anvilopening assembly configured to drive the anvil further toward the openposition in response to the translating body translating from theintermediate position to the distal position.
 22. The surgicalinstrument of claim 21, wherein the first anvil opening assemblycomprises a spring interposed between the anvil and the jaw.
 23. Thesurgical instrument of claim 22, wherein the spring comprises a torsionspring.
 24. The surgical instrument of claim 23, wherein the anvilcomprises a pair of lateral pins, wherein the jaw defines a pair ofelongate opening, wherein the pair of lateral pins are pivotablydisposed within the elongate opening.
 25. The surgical instrument ofclaim 24, wherein the torsion spring is coupled with a lateral pin ofthe pair of lateral pins.
 26. The surgical instrument of claim 22,wherein the spring comprises a leaf spring attached to the jaw.
 27. Thesurgical instrument of claim 21, wherein the second anvil openingassembly comprises a first tab associated with the translating body. 28.The surgical instrument of claim 27, wherein the second anvil openingassembly comprises a second tab associated with the anvil.
 29. Thesurgical instrument of claim 28, wherein the second anvil openingassembly is configured to drive the anvil further toward the opening viainteraction between the first tab and the second tab.
 30. The surgicalinstrument of claim 29, wherein the first tab and the second tab areconfigured to be disengaged when the translating body is in the distalposition.
 31. The surgical instrument of claim 21, wherein thetranslating body comprises a closure ring, wherein the closure ringcomprises a distally presented surface.
 32. The surgical instrument ofclaim 31, wherein the anvil comprises a proximally presented verticalsurface, wherein the distally presented surface is configured to engagethe proximally presented vertical surface to drive the anvil from theopen position to the closed position.
 33. The surgical instrument ofclaim 21, wherein the shaft assembly comprises an articulation sectionlocated proximally to the translating body.
 34. The surgical instrumentof claim 33, wherein the shaft assembly comprises a closure tube locatedproximally to the articulation section, wherein the closure tube isconfigured to communicate translation to the translating body.
 35. Thesurgical instrument of claim 34, further comprising a handle assembly,wherein the shaft assembly extends distally from the handle assembly.36. The surgical instrument of claim 35, wherein the shaft assembly andthe end effector are rotatable relative to the handle assembly about alongitudinal axis.
 37. The surgical instrument of claim 21, wherein theend effector is configured to drive a plurality of staple against theanvil.
 38. The surgical instrument of claim 21, wherein the end effectorcomprises a translating knife.
 39. A surgical instrument, comprising:(a) a shaft assembly comprising a translating body, wherein thetranslating body comprises a first vertical surface, wherein thetranslating body is configured to translate between a distal position,an intermediate position, and a proximal position; and (b) an endeffector extending distally from the shaft assembly, wherein the endeffector comprises: (i) a jaw, (ii) an anvil pivotably coupled to thejaw between an open position and a closed position, wherein the anvilcomprises a second vertical surface, wherein the translating body of theshaft assembly is configured to translate from the proximal positioninto the distal position to pivot the anvil from the open position intothe closed position via interaction between the first vertical surfaceand the second vertical surface, (iii) a first anvil opening assemblybiasing the anvil toward the open position, wherein the first anvilopening assembly is configured to drive the anvil from the closedposition toward the open position in response to the translating bodytranslating from the distal position to the intermediate position, and(iv) a second anvil opening assembly, wherein the second anvil openingassembly comprises a first tab associated with the translating body anda second tab associated with the anvil, wherein the second anvil openingassembly is configured to drive the anvil further toward the openposition in response to the translating body translating from theintermediate position to the distal position via contact between thefirst tab and the second tab, wherein the first tab and the second tabdefine a gap when the translating body is in the distal position.
 40. Asurgical instrument, comprising: (a) a shaft assembly comprising aclosure ring, wherein the closure ring is configured to translatebetween a distal position, and a proximal position; and (b) an endeffector extending distally from the shaft assembly, wherein the endeffector comprises: (i) a jaw, (ii) an anvil pivotably coupled to thejaw between an open position and a closed position, wherein the closurering of the shaft assembly is configured to translate from the proximalposition into the distal position to thereby pivot the anvil from theopen position into the closed position, (iii) a first anvil openingassembly biasing the anvil toward the open position, wherein the firstanvil opening assembly is configured to drive the anvil from the closedposition toward the open position in response to the closure ringinitially translating from the distal position toward the proximalposition, and (iv) a second anvil opening assembly configured to drivethe anvil further toward the open position in response to thetranslating body translating into the proximal position.